Abstract
This paper deals with cooperative target-capturing problem for multi-vehicle systems with dynamic network topology. Firstly, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose the target-capturing strategy based on consensus seeking with dynamic network topology. In proposed strategy, at least one vehicle can acquire the information of the targetobject and network topology among vehicles is time-varying but always connected. To analyze the convergence of targetcapturing behavior with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the American Control Conference |
| Pages | 635-640 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
| Event | 2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: 2009 Jun 10 → 2009 Jun 12 |
Other
| Other | 2009 American Control Conference, ACC 2009 |
|---|---|
| Country | United States |
| City | St. Louis, MO |
| Period | 09/6/10 → 09/6/12 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology. / Kawakami, Hiroki; Namerikawa, Toru.
Proceedings of the American Control Conference. 2009. p. 635-640 5160030.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology
AU - Kawakami, Hiroki
AU - Namerikawa, Toru
PY - 2009
Y1 - 2009
N2 - This paper deals with cooperative target-capturing problem for multi-vehicle systems with dynamic network topology. Firstly, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose the target-capturing strategy based on consensus seeking with dynamic network topology. In proposed strategy, at least one vehicle can acquire the information of the targetobject and network topology among vehicles is time-varying but always connected. To analyze the convergence of targetcapturing behavior with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.
AB - This paper deals with cooperative target-capturing problem for multi-vehicle systems with dynamic network topology. Firstly, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose the target-capturing strategy based on consensus seeking with dynamic network topology. In proposed strategy, at least one vehicle can acquire the information of the targetobject and network topology among vehicles is time-varying but always connected. To analyze the convergence of targetcapturing behavior with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=70449672791&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70449672791&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5160030
DO - 10.1109/ACC.2009.5160030
M3 - Conference contribution
SN - 9781424445240
SP - 635
EP - 640
BT - Proceedings of the American Control Conference
ER -