Continuum deformation of multi-agent systems. (2016)

• Record Type: Book
• Further Information: Note: Hossein Rastgoftar.
• Authors: Rastgoftar, Hossein
• Contents: Preface; Contents; 1 Introduction; 1.1 Available Methods for Formation Control; 1.1.1 The Consensus Algorithm; 1.1.2 The PDE-Based Model; 1.1.3 The Containment Control Approach; 1.1.4 Problems Definitions; 1.2 MAS Evolution As Continuum Deformation; 2 Homogeneous Deformation without Interagent Communication; 2.1 Homogeneous Transformation; 2.1.1 Homogeneous Deformation of the Leading Polytope; 2.1.2 Homogeneous Deformation of the Leading Triangle; 2.1.3 Homogeneous Deformation of Agents with Finite Size; 2.1.4 Force Analysis; 2.1.5 Path Planning: MAS As Particles of Newtonian Viscous Flow. 2.2 Evolution of a Multi-Agent System with Constrained Dynamics2.3 Homogeneous Deformation of Followers with Linear Dynamics; 2.3.1 Continuous Time; 2.3.2 Discrete Time Finite Time Reachability Model; 3 Homogeneous Deformation of Multi-Agent Systems Communication; 3.1 Graph Theory Notions and Definitions; 3.2 Protocol of Minimum Communication; 3.2.1 Communication Weights; 3.2.2 Weight Matrix; 3.2.3 MAS Evolution Dynamics-First Order Kinematic Model-Method 1; 3.2.3.1 Evolution of Followers in Absence of Communication Delays; 3.2.3.2 Dynamics of Followers in Presence of Communication Delays. 3.2.3.3 Stability of Delayed MAS Evolution Using Eigen-Analysis3.2.4 MAS Evolution Dynamics-First Order Kinematic Model-Method 2; 3.3 Homogeneous Deformation of an MAS Using Preservation of Volumetric Ratios; 3.4 Comparison of the Different Continuous-Time Algorithms for Homogeneous Deformation of an MAS; 3.5 Discrete Time Dynamics for Homogeneous Deformation of an MAS; 3.6 Final Remarks; 3.6.1 Homogeneous Deformation in a 3-D Space; 3.6.2 p-D Homogeneous Deformation in an n-D Space (pd"); 4 Higher Order Dynamics for MAS Evolution as Continuum Deformation. 4.1 Second Order Dynamics for Continuum Deformation of an MAS4.2 Asymptotic Tracking of Desired Positions; 4.3 MAS Evolution in Presence of Communication Delay; 5 Alignment as Biological Inspiration for Control of Multi-Agent Systems; 5.1 Initial Distribution of the Agents; 5.2 Evolution of Leader Agents; 5.3 Evolution of Follower Agents; 5.3.1 Followers' Desired Positions; 5.3.2 Perception Weights; 5.3.3 Followers' Dynamics; 5.4 Alignment Using Agents' Triangulation; 5.4.1 Evolution of the Secondary Leaders; 5.4.1.1 Evolution of the Secondary Leaders under No Communication. 5.4.1.2 Evolution of the Secondary Leaders under Local Communication5.4.2 Evolution of the Followers; 6 Deployment of a Multi-Agent System on a Desired Formation; 6.1 Definitions; 6.2 q-Communication Weight and q-Weight Matrix; 6.3 Agents' positions in the Desired Configuration; 6.4 Dynamics of Agents; 6.4.1 First-Order Dynamics for Evolution of the MAS; 6.4.2 Double Integrator Kinematic Model (Asymptotic Tracking of a Moving Desired Formation); 7 Continuum Deformation of a Multi-Agent System over Nonlinear Surfaces; 7.1 Discrete-Time Dynamics of Collective Motion on a Nonlinear Surface.
• Publisher Details: Cham, Switzerland : Birkhäuser
• Publication Date: 2016
• Extent: 1 online resource
• Subjects: 006.3; 510; Multiagent systems; COMPUTERS -- General; Multiagent systems; Electronic books
• Languages: English
• ISBNs: 9783319415949; 3319415948
• Related ISBNs: 9783319415932; 331941593X
• Notes: Note: Includes bibliographical references and index.; Note: Online resource; title from PDF title page (SpringerLink, viewed December 27, 2016).
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.