TY - GEN
T1 - Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology
AU - Kawakami, Hiroki
AU - Namerikawa, Toru
PY - 2009/11/23
Y1 - 2009/11/23
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
AN - SCOPUS:70449672791
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 635
EP - 640
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -