اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدHerding stochastic autonomous agents via local control rules and online global target selection strategies
48
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
In this Paper we propose a simple yet effective set of local control rules to make a group of herder agents collect and contain in a desired region an ensemble of non-cooperative stochastic target agents in the plane. We investigate the robustness of the proposed strategies to variations of the number of target agents and the strength of the repulsive force they feel when in proximity of the herders. Extensive numerical simulations confirm the effectiveness of the approach and are complemented by a more realistic validation on commercially available robotic agents via ROS.
قيم البحث
اقرأ أيضاً
This work presents and experimentally test the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real-time, in an autonomous fashion, and under constrained communications. Our framew
ork relies on three layered approach: (1) Operational layer, where fast temporal and narrow spatial decisions are made; (2) Tactical Layer, where temporal and spatial decisions are made for a team of agents; and (3) Strategical Layer, where slow temporal and wide spatial decisions are made for the team of agents. These three layers are coordinated by an ad-hoc, software-defined communications network, which ensures sparse, but timely delivery of messages amongst groups and teams of agents at each layer even under constrained communications. Experimental results are presented for a team of 10 small unmanned aerial systems tasked with searching and monitoring a person in an open area. At the operational layer, our use case presents an agent autonomously performing searching, detection, localization, classification, identification, tracking, and following of the person, while avoiding malicious collisions. At the tactical layer, our experimental use case presents the cooperative interaction of a group of multiple agents that enable the monitoring of the targeted person over a wider spatial and temporal regions. At the strategic layer, our use case involves the detection of complex behaviors-i.e. the person being followed enters a car and runs away, or the person being followed exits the car and runs away-that requires strategic responses to successfully accomplish the mission.
This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational efficienc
y. Besides, as the optimization problem is nonlinear and nonconvex, it typically poses great difficultly in determining the optimal solution. To address this issue, this work proposes a novel and completely parallel computation framework by leveraging the alternating direction method of multipliers (ADMM). The nonlinear and nonconvex optimization problem in the autonomous driving problem can be divided into two manageable subproblems; and the resulting subproblems can be solved by using effective optimization methods in a parallel framework. Here, the differential dynamic programming (DDP) algorithm is capable of addressing the nonlinearity of the system dynamics rather effectively; and the nonconvex coupling constraints with small dimensions can be approximated by invoking the notion of semi-definite relaxation (SDR), which can also be solved in a very short time. Due to the parallel computation and efficient relaxation of nonconvex constraints, our proposed approach effectively realizes real-time implementation and thus also extra assurance of driving safety is provided. In addition, two transportation scenarios for multiple CAVs are used to illustrate the effectiveness and efficiency of the proposed method.
Large collections of coupled, heterogeneous agents can manifest complex dynamical behavior presenting difficulties for simulation and analysis. However, if the collective dynamics lie on a low-dimensional manifold then the original agent-based model
may be approximated with a simplified surrogate model on and near the low-dimensional space where the dynamics live. This is typically accomplished by deriving coarse variables that summarize the collective dynamics, these may take the form of either a collection of scalars or continuous fields (e.g. densities), which are then used as part of a reduced model. Analytically identifying such simplified models is challenging and has traditionally been accomplished through the use of mean-field reductions or an Ott-Antonsen ansatz, but is often impossible. Here we present a data-driven coarse-graining methodology for discovering such reduced models. We consider two types of reduced models: globally-based models which use global information and predict dynamics using information from the whole ensemble, and locally-based models that use local information, that is, information from just a subset of agents close (close in heterogeneity space, not physical space) to an agent, to predict the dynamics of an agent. For both approaches we are able to learn laws governing the behavior of the reduced system on the low-dimensional manifold directly from time series of states from the agent-based system. A nontrivial conclusion is that the dynamics can be equally well reproduced by an all-to-all coupled as well as by a locally coupled model of the same agents.
The overwhelming success of online social networks, the key actors in the Web 2.0 cosmos, has reshaped human interactions globally. To help understand the fundamental mechanisms which determine the fate of online social networks at the system level,
we describe the digital world as a complex ecosystem of interacting networks. In this paper, we study the impact of heterogeneity in network fitnesses on the competition between an international network, such as Facebook, and local services. The higher fitness of international networks is induced by their ability to attract users from all over the world, which can then establish social interactions without the limitations of local networks. In other words, inter-country social ties lead to increased fitness of the international network. To study the competition between an international network and local ones, we construct a 1:1000 scale model of the digital world, consisting of the 80 countries with the most Internet users. Under certain conditions, this leads to the extinction of local networks; whereas under different conditions, local networks can persist and even dominate completely. In particular, our model suggests that, with the parameters that best reproduce the empirical overtake of Facebook, this overtake could have not taken place with a significant probability.
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious and unbou
nded (thinking of a campus). Therefore, unlike for indoor scenes where the scanning effort is mainly devoted to the discovery of boundary surfaces, scanning an open and unbounded area requires actively delimiting the extent of scanning region and dynamically planning a traverse path within that region. Thus, for outdoor scenes, we formulate the planning of an energy-efficient autonomous scanning through a discrete-continuous optimization of robot scanning paths. The discrete optimization computes a topological map, through solving an online traveling sales problem (Online TSP), which determines the scanning goals and paths on-the-fly. The dynamic goals are determined as a collection of visit sites with high reward of visibility-to-unknown. A visit graph is constructed via connecting the visit sites with edges weighted by traversing cost. This topological map evolves as the robot scans via deleting outdated sites that are either visited or become rewardless and inserting newly discovered ones. The continuous part optimizes the traverse paths geometrically between two neighboring visit sites via maximizing the information gain of scanning along the paths. The discrete and continuous processes alternate until the traverse cost of the current graph exceeds the remaining energy capacity of the robot. Our approach is evaluated with both synthetic and field tests, demonstrating its effectiveness and advantages over alternatives. The project is at http://vcc.szu.edu.cn/research/2020/Husky, and the codes are available at https://github.com/alualu628628/Autonomous-Outdoor-Scanning-via-Online-Topological-and-Geometric-Path-Optimization.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
