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Continuum Deformation of Multi-Agent Systems / by Hossein Rastgoftar
版 | 1st ed. 2016. |
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出版者 | Cham : Springer International Publishing : Imprint: Birkhäuser |
出版年 | 2016 |
本文言語 | 英語 |
大きさ | XIII, 217 p. 136 illus., 99 illus. in color : online resource |
著者標目 | *Rastgoftar, Hossein author SpringerLink (Online service) |
件 名 | LCSH:System theory LCSH:Control theory LCSH:Control engineering FREE:Systems Theory, Control FREE:Control and Systems Theory |
一般注記 | Introduction -- Homogeneous Deformation without Inter-Agent Communication -- Homogeneous Deformation under Local Control -- Higher Order Dynamics for MAS Evolution as Continuum Deformation -- Alignment as Biological Inspiration for Control of Multi-Agent Systems -- Deployment of a Multi-Agent System on a Desired Formation -- Appendix A: Kinematics of a Continuum -- Appendix B: Notions of Graph Theory This monograph presents new algorithms for formation control of multi-agent systems (MAS) based on principles of continuum mechanics. Beginning with an overview of traditional methods, the author then introduces an innovative new approach whereby agents of an MAS are considered as particles in a continuum evolving in ℝn whose desired configuration is required to satisfy an admissible deformation function. The necessary theory and its validation on a mobile-agent-based swarm test bed are considered for two primary tasks: homogeneous transformation of the MAS and deployment of a random distribution of agents on a desired configuration. The framework for this model is based on homogeneous transformations for the evolution of an MAS under no inter-agent communication, local inter-agent communication, and intelligent perception by agents. Different communication protocols for MAS evolution, the robustness of tracking of a desired motion by an MAS evolving in ℝn, and the effect of communication delays in an MAS evolving under consensus algorithms or homogeneous maps are also explored. Featuring appendices which introduce the requisite concepts from continuum kinematics and graph theory, this monograph will provide advanced graduate students and researchers with the necessary background to understand and apply the methods presented HTTP:URL=https://doi.org/10.1007/978-3-319-41594-9 |
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電子ブック | オンライン | 電子ブック |
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Springer eBooks | 9783319415949 |
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EB00229182 |
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データ種別 | 電子ブック |
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分 類 | LCC:Q295 LCC:QA402.3-402.37 DC23:003 |
書誌ID | 4000116695 |
ISBN | 9783319415949 |
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※2017年9月4日以降