Cooperative conveyance by vehicle swarms with dynamic network topology

Koji Ishimura, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper deals with cooperative conveyance control by vehicle swarms with dynamic network topology. First, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose a novel conveyance strategy based on consensus seeking with dynamic network topology. The proposed strategy needs at least one vehicle which can acquire the information of the target-object and network topology among vehicles is time-varying but always connected. Furthermore the strategy is composed of Surround and. Transport mode. To analyze the convergence of conveyance with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results demonstrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages694-699
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

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Keywords

  • Cooperative Conveyance
  • Dynamic Network Topology
  • Multi-Vehicle System
  • Surround
  • Transport

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Ishimura, K., & Namerikawa, T. (2011). Cooperative conveyance by vehicle swarms with dynamic network topology. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 694-699). [6060753] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).