This paper proposes a formation of multiple unmanned aerial vehicles(UAVs)based on the R5DOS(RCC-5 and orientation direction)intersection model.After improving the R5DOS-intersection model,we evenly arranged 16 UAVs i...This paper proposes a formation of multiple unmanned aerial vehicles(UAVs)based on the R5DOS(RCC-5 and orientation direction)intersection model.After improving the R5DOS-intersection model,we evenly arranged 16 UAVs in 16 spatial regions.Compared with those of the rectangular formation model and the grid formation model,the communication costs,time costs,and energy costs of the R5DOS model formation were effectively reduced.At the same time,the operation time of UAV formation was significantly enhanced.The leader-follower method can enhance the robustness of the UAV formation and ensure the integrity of communication during UAV formation operation.Finally,we conducted a simulation experiment on the model and found that the R5DOS model formation was stable and could maintain the desired formation.The randomly generated UAVs could quickly fly to the formation path in a short time,establish formation,and carry out operations.When the leader fails,the follower could travel to the original trajectory of the failed leader in a short time,replace the leader,and continue to communicate and improve the robustness of the formation.To sum up,the UAV formation based on the R5DOS model has the advantages of long operation time,strong endurance,low communication cost,and stable formation,which is of great significance for research on UAV formation.展开更多
We introduce the notion of quantum N-toroidal algebras as natural generalization of the quantum toroidal algebras as well as extended quantized GIM algebras of Nfold affinization.We show that the quantum N-toroidal al...We introduce the notion of quantum N-toroidal algebras as natural generalization of the quantum toroidal algebras as well as extended quantized GIM algebras of Nfold affinization.We show that the quantum N-toroidal algebras are quotients of the extended quantized GIM algebras of N-fold affinization,which generalizes a wellknown result of Berman and Moody for Lie algebras.展开更多
基金This study was supported by the National Natural Science Foundation of China(Grant Nos.41601454 and 41671397,URL:http://www.nsfc.gov.cn/)Science and Technology Development Project of Jilin Province,China(Grant No.20191001008XH,URL:http://www.jlkjxm.com/)+2 种基金Science Foundation of Jilin Provincial Education Department,China(Grant No.:JJKH20200329KJ,URL:http://jyt.jl.gov.cn/)Development and Reform Commission Project of Jilin Province,China(Grant No.2020C037-7,URL:http://jldrc.jl.gov.cn/)Ecology and Environment Department Project of Jilin Province,China(Grant Nos.2019-02 and 2020-18,URL:http://sthjt.jl.gov.cn/).
文摘This paper proposes a formation of multiple unmanned aerial vehicles(UAVs)based on the R5DOS(RCC-5 and orientation direction)intersection model.After improving the R5DOS-intersection model,we evenly arranged 16 UAVs in 16 spatial regions.Compared with those of the rectangular formation model and the grid formation model,the communication costs,time costs,and energy costs of the R5DOS model formation were effectively reduced.At the same time,the operation time of UAV formation was significantly enhanced.The leader-follower method can enhance the robustness of the UAV formation and ensure the integrity of communication during UAV formation operation.Finally,we conducted a simulation experiment on the model and found that the R5DOS model formation was stable and could maintain the desired formation.The randomly generated UAVs could quickly fly to the formation path in a short time,establish formation,and carry out operations.When the leader fails,the follower could travel to the original trajectory of the failed leader in a short time,replace the leader,and continue to communicate and improve the robustness of the formation.To sum up,the UAV formation based on the R5DOS model has the advantages of long operation time,strong endurance,low communication cost,and stable formation,which is of great significance for research on UAV formation.
基金the support of NSERC of Canada and NSFC Grant 11931009N.Jing would like to thank the support of Simons Foundation Grant 523868 and NSFC Grants 11531004 and 12171303+1 种基金L.Xia would like to thank the support of NSFC Grants 11871249 and 12171155H.Zhang would like to thank the support of NSFC Grant 11871325.
文摘We introduce the notion of quantum N-toroidal algebras as natural generalization of the quantum toroidal algebras as well as extended quantized GIM algebras of Nfold affinization.We show that the quantum N-toroidal algebras are quotients of the extended quantized GIM algebras of N-fold affinization,which generalizes a wellknown result of Berman and Moody for Lie algebras.
