TY - GEN
T1 - Energy-Efficient Flocking Control
T2 - 3rd IEEE Conference on Control Technology and Applications, CCTA 2019
AU - Wang, Fengchen
AU - Chen, Yan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - Inspired by cooperative foraging behavior in goose flocks, this paper proposes a distributed least-informed (DLI) method to achieve energy-efficient flocking control by selecting the least required informed agents. To avoid the fragmentation issue when applying the DLI method, three new concepts about the informed path, cycle, and tree are proposed. Based on the properties of the proposed new concepts, a theorem of fragmentation prevention is developed for multi-agent systems with a portion of informed agents. Utilizing the developed theorem of fragmentation prevention, the initialization and updating principles of the selection of the least informed agents in the DLI method are described. Simulation results demonstrate that by using the DLI method, a multi-agent system of 10 agents can successfully achieve energy-efficient flocking control without fragmentation. Namely, a collective motion around a (virtual) leader with velocity consensus (flock formation) is achieved by a total 15.9% energy reduction, compared with the completed informed method.
AB - Inspired by cooperative foraging behavior in goose flocks, this paper proposes a distributed least-informed (DLI) method to achieve energy-efficient flocking control by selecting the least required informed agents. To avoid the fragmentation issue when applying the DLI method, three new concepts about the informed path, cycle, and tree are proposed. Based on the properties of the proposed new concepts, a theorem of fragmentation prevention is developed for multi-agent systems with a portion of informed agents. Utilizing the developed theorem of fragmentation prevention, the initialization and updating principles of the selection of the least informed agents in the DLI method are described. Simulation results demonstrate that by using the DLI method, a multi-agent system of 10 agents can successfully achieve energy-efficient flocking control without fragmentation. Namely, a collective motion around a (virtual) leader with velocity consensus (flock formation) is achieved by a total 15.9% energy reduction, compared with the completed informed method.
UR - http://www.scopus.com/inward/record.url?scp=85077787909&partnerID=8YFLogxK
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U2 - 10.1109/CCTA.2019.8920713
DO - 10.1109/CCTA.2019.8920713
M3 - Conference contribution
AN - SCOPUS:85077787909
T3 - CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications
SP - 332
EP - 337
BT - CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 19 August 2019 through 21 August 2019
ER -