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

Hiroki Kawakami; Toru Namerikawa

doi:10.1109/ACC.2009.5160030

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

Hiroki Kawakami, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

64 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 language	English
Title of host publication	2009 American Control Conference, ACC 2009
Pages	635-640
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2009.5160030
Publication status	Published - 2009 Nov 23
Externally published	Yes
Event	2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: 2009 Jun 10 → 2009 Jun 12

Publication series

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

Other

Other	2009 American Control Conference, ACC 2009
Country/Territory	United States
City	St. Louis, MO
Period	09/6/10 → 09/6/12

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/ACC.2009.5160030

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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., 5160030, Proceedings of the American Control Conference, pp. 635-640, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 09/6/10. https://doi.org/10.1109/ACC.2009.5160030

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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.",

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doi = "10.1109/ACC.2009.5160030",

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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.

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

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