Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology

Hiroki Kawakami, Toru Namerikawa

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

52 Citations (Scopus)

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 languageEnglish
Title of host publication2009 American Control Conference, ACC 2009
Pages635-640
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 23
Externally publishedYes
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: 2009 Jun 102009 Jun 12

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period09/6/1009/6/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Kawakami, H., & Namerikawa, T. (2009). Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology. In 2009 American Control Conference, ACC 2009 (pp. 635-640). [5160030] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5160030