In this article, the problem of collaborative tracking an underwater target using autonomous surface vehicles (ASVs) is studied. Distance-based formation control with a collision-avoidance potential function employed as solution. A protocol devised and applied to problem. With protocol, form desired around moving in order continuously estimate its position, while centroid tracks target. Almost global stability proved for case three agents. fully operational platform four ASVs was built...

Nonlinearities are present in all real applications. Two types of general nonlinear consensus protocols considered this paper, namely, the systems with communication and actuator constraints. The solutions understood sense Filippov to handle possible discontinuity controllers. For each case, we prove asymptotic stability minimal assumptions on nonlinearity, for both directed undirected graphs. These results extend literature more dynamics topologies. As applications established theorems,...

Microprocessors in today's computers continue to get faster and more powerful. From the Intel 80/spl times/86 series Pentium IV, CPUs have greatly improved performance. Accordingly, their power consumption has increased dramatically , . To reduce loss, an evolution began when high-performance processor was driven by a nonstandard, less-than-5-V supply, instead of drawing its from 5-V plane on system board. In order provide as quickly possible, voltage regulator (VR), dedicated dc-dc...

In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs update its control input broadcast together relative state information neighbors at own triggering times, receive neighbors' times. Two types of system dynamics, single integrators double integrators, considered. As a result, all agents converge exponentially preservation, Zeno behavior can be excluded....

The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body expressed using axis-angle representation. Two discontinuous and distributed controllers vectorized signum function are proposed, which guarantee almost global local convergence, respectively. Filippov solutions nonsmooth analysis techniques adopted to handle discontinuities. Sufficient conditions provided convergence boundedness solutions. Simulation examples verify...

Overtaking the lead vehicle on two-way roads in presence of several oncoming vehicles is a complex task for autonomous vehicles. In this paper, we formulate overtaking behavior an ego based deep reinforcement learning (DRL) method. First, urban road created, wherein aims to reach destination safely and efficiently while considering multiple traffic participants. We use different intelligent driver model (IDM) parameters account drivers' habits. Furthermore, introduce responses other when...

Harmful algal blooms occur frequently and deteriorate water quality. A reliable method is proposed in this paper to track using a set of autonomous surface robots. satellite image indicates the existence initial location bloom for deployment robot system. The area approximated by circle with time varying size. This estimated circumnavigated robots which are able locally sense its boundary. multi-agent control algorithm continuous monitoring dynamic evolution bloom. Such comprises...

This paper studies the localization problem using noisy range-difference measurements, or equivalently time difference of arrival (TDOA) measurements. There is a reference sensor, and for each other TDOA measurement obtained with respect to one. By minimizing sum squared errors, nonconvex constrained least squares (CLS) formulated. In this work, we focus on devising an algorithm seek global minimizer CLS problem, hoping that numerical solution meets some precision requirement in terms...

Undetectable attacks in security studies of cyber-physical systems render the measurements system equal to a possible physical response. In this paper, we investigate defense strategies against undetectable single-attack for positive and second-order systems, which both can be reinterpreted terms graphs with nodes edges, while attack is added through one nodes. We show that an arbitrary placement sensor prevents these classes systems. It worth emphasising do not need measure at corrupted...

In this paper, we consider the classic car overtake problem. There are three cars, two moving along same direction in lane while third moves opposite to that of first cars adjacent lane. The objective trailing is front it avoiding collision with other scenario. information available relative position, velocities respect and its position past actions. velocity corrupted by noise. Given information, needs make a decision as whether wants or not. We present control algorithm for which minimizes...

We study the deployment of a first-order multiagent system over desired smooth curve in 3D space. assume that agents have access to local information and their displacements with respect closest neighbors, whereas addition leader is able measure his absolute displacement curve. In this paper we consider case closed C <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> transmit measurement other through communication network. start algorithm...

The consensus problem for multi-agent systems with quantized communication or sensing is considered. Centralized and distributed self-triggered rules are proposed to reduce the overall need of system updates. It proved that these realize exponentially if network topologies have a spanning tree quantization function uniform. Numerical simulations provided show effectiveness theoretical results.

This paper studies a basic model of dynamical distribution network, where the network topology is given by directed graph with storage variables corresponding to vertices and flow inputs edges. We aim at regulating system consensus, while remain greater or equal than lower bound. The problem solved using distributed PI controller structure constraints which vary in time. It shown how can be obtained solving an optimization problem.

In this paper, we study the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> -norm of linear systems over graphs, which is used to model distribution networks. particular, aim minimize subject allocation weights on edges. The optimization problem formulated with LMI (Linear-Matrix-Inequality) constraints. For networks one port, i.e., SISO systems, show that coincides effective resistance between nodes in port. Moreover, derive an upper...

Harmful algal blooms occur frequently and deteriorate water quality. A reliable method is proposed in this paper to track using a set of autonomous surface robots. satellite image indicates the existence initial location bloom for deployment robot system. The area approximated by circle with time varying size. This estimated circumnavigated robots which are able locally sense its boundary. multi-agent control algorithm continuous monitoring dynamic evolution bloom. Such comprises...