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optimal formation Problems of Robots by the Lagrangian Multiplier Method

Optimal Formation Problems of Robots by the Lagrangian Multi...

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第36届中国控制会议

作者： Jun Liu Xiaoning Ma Ping Li Tianyun Shi Institute of Computing Technologies Chinese Academy of Railway Sciences

ISBN: (纸本)9781538629185

optimal formation of robots is one of the most important and interesting topics in the fields of robotics,multi-agents,intelligent control and evolutionary computation,*** objective of this paper is mainly to discuss the formation problems by solving the Lagrangian method when the number of robots is only equal to 3 and the number of constraints is larger than *** considered objective function is selected to be the sum square distance from points in the initial shape to points in the desired *** importantly,two theorems and the analytic solution on three typical cases are provided to analyze and discuss the typical formation problems with three ***,one theorem is to highlight that the center of the initial shape is equal to that of the desired shape,and the corresponding theorem can improve the efficiency and reduce the optimization dimension of formation problem.

关键词： optimal formation Lagrangian method Objective function Many constraints

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optimal formation of Robots by the Continuous-Discrete PSO Algorithm in Three Dimensional Space 26th

Optimal Formation of Robots by the Continuous-Discrete PSO A...

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第26届中国控制与决策会议

作者： Jun Liu Hongbin Ma Tianyun Shi Ping Li School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Institute of Computing Technologies Chinese Academy of Railway Sciences

ISBN: (纸本)9781479937097

This paper mainly provides and develops a new continuous-discrete PSO algorithm for handling with the optimal formation problem in the three dimensional space. For one class of formation problem with the particular constraints, it is shown that the center of the desired shape is determined and equal to the center of the initial shape by utilizing the Lagrangian method. From the perspective of efficiency, the main task of the continuous-discrete PSO algorithm, short for CDPSO, is to search for some key parameters and to minimize the distance of all robots from the initial shape to the desired shape. To demonstrate the effectiveness of the new CDPSO algorithm, numerical results chiefly concentrate on the optimal helicopters formation from the initial shape to the desired shape in the three dimensional space and the typical shape conversion from the two-dimensional space to the three-dimensional space.

关键词： optimal formation Robots Lagrangian method Continuous-Discrete PSO algorithm

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A New Framework of optimal Multi-Robot formation Problem

A New Framework of Optimal Multi-Robot Formation Problem

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第三十届中国控制会议

作者： MA Hongbin~1,WANG Meiling~1,JIA Zhenchao~1,YANG Chenguang~(*2) 1.School of Automation,Beijing Institution of Technology,Beijing 100081,P.R.China 2.School of Computing and Mathematics,University of Plymouth,Plymouth PL4 8AA,United Kingdom

＜正＞In the past decade,cooperation of swarm of mobile robots has been extensively studied for its high error tolerance, efficiency,scalar extendibility and wide applications in various services and *** most of these applications, the robots are required to formate into certain shape or positions so as to accomplish tasks with satisfied overall performance, hence multi-robot formation problem has received increasing attention in the research community and has been studied from different *** contribution aims at one long-term ignored fundamental problem of describing the formation rigorously in a mathematical manner and establishing one general framework of optimal multi-robot formation problem,which can serve as a theoretical basis for later studies on robot *** the proposed framework,the preliminary case studies to three-robot optimal formation problem have shown that the formulated optimal formation problems are generally non-trivial and challenging even for the most simple three-robot optimal line formation problems.

关键词： Robot formation optimal formation Multiple Robots Optimization

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