Distributed coordination of multi-agent networks: emergent problems, models, and issues

Coordinated Regulation when the Leader\'s Position is Constant......Page 6
  Coordinated Tracking with Full Access to the Leader\'s Velocity......Page 8
  Coordinated Tracking with Partial Access to the Leader\'s Velocity......Page 11
Cover......Page 1
 Optimal Linear Coordination Algorithms in a Continuous-time Setting from a Linear Quadratic Regulator Perspective......Page 3
Preface......Page 7
Index......Page 15
Preliminaries and Literature Review......Page 17
  Optimal Scaling Factor Using the Interaction-related Cost Function......Page 19
  Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 4
  Directed Switching Interaction......Page 5
Acknowledgements......Page 9
  Illustrative Examples......Page 10
Contents......Page 12
  Absolute Damping......Page 13
 Stability Analysis for Multiple Dynamic Leaders......Page 14
  Coordinated Regulation when the Leader\'s Vector of Generalized Coordinates is Constant......Page 16
  Notations......Page 18
  Leaderless Coordination......Page 2
  Algebraic Graph Theory Background......Page 20
 Notes......Page 25
  Linear and Nonlinear System Theory Background......Page 28
 Notes......Page 30
  Algebra and Matrix Theory Background......Page 24
  Analysis for Multiple Stationary Leaders......Page 27
  Analysis for Multiple Dynamic Leaders......Page 29
  Simulation......Page 33
  Notes......Page 36
  Time-delay System Theory Background......Page 34
 Notes......Page 35
 Simulation......Page 22
  Simulation......Page 31
 Notes......Page 21
  Nonsmooth Analysis Background......Page 32
  Introduction......Page 37
  Consensus......Page 39
   Delay Effect......Page 40
   Stochastic Setting......Page 41
   Complex Systems......Page 42
   Finite-time Convergence......Page 43
    Matrix Theory Approach......Page 44
    Graph Rigidity Approach......Page 45
    Matrix Theory Approach......Page 46
    Other Approaches......Page 47
   Controllability......Page 48
   Global Cost Functions......Page 49
   Coverage Control......Page 50
   Scheduling......Page 51
   Surveillance......Page 52
   Pursuer-invader Problem......Page 53
   Game Theory......Page 54
  Notes......Page 55
Emergent Problems in Distributed Multi-agent Coordination......Page 56
  Cartesian Coordinate Coupling......Page 57
   Single-integrator Dynamics......Page 58
   Double-integrator Dynamics......Page 63
   Simulation......Page 72
  Coupled Harmonic Oscillators......Page 74
   Problem Statement......Page 75
   Convergence Under Directed Fixed Interaction......Page 76
   Convergence Under Directed Switching Interaction......Page 81
   Application to Motion Coordination in Multi-agent Systems......Page 84
  Notes......Page 86
  Problem Statement......Page 88
   Coordinated Tracking Under Fixed and Switching Interaction......Page 89
   Swarm Tracking Under Switching Interaction......Page 94
   Coordinated Tracking when the Leader\'s Velocity is Varying......Page 96
   Coordinated Tracking when the Leader\'s Velocity is Constant......Page 102
   Swarm Tracking when the Leader\'s Velocity is Constant......Page 103
   Swarm Tracking when the Leader\'s Velocity is Varying......Page 104
  Simulation......Page 107
  Notes......Page 115
  Problem Statement......Page 119
   Directed Fixed Interaction......Page 121
   Directed Switching Interaction......Page 123
   Simulation......Page 130
  Stability Analysis for Multiple Dynamic Leaders......Page 132
   Directed Fixed Interaction......Page 133
   Directed Switching Interaction......Page 137
   Simulation......Page 142
   Algorithm Design......Page 143
   Analysis for Multiple Stationary Leaders......Page 145
   Analysis for Multiple Dynamic Leaders......Page 147
   Simulation......Page 151
  Notes......Page 154
Emergent Models in Distributed Multi-agent Coordination......Page 155
  Problem Statement......Page 156
  Distributed Leaderless Coordination for Networked Lagrangian Systems......Page 158
   Fundamental Algorithm......Page 159
   Nonlinear Algorithm......Page 161
   Algorithm Accounting for Unavailability of Measurements of Generalized Coordinate Derivatives......Page 164
   Simulation......Page 166
  Distributed Coordinated Regulation and Tracking for Networked Lagrangian Systems......Page 170
   Coordinated Regulation when the Leader\'s Vector of Generalized Coordinates is Constant......Page 171
   Coordinated Tracking when the Leader\'s Vector of Generalized Coordinate Derivatives is Constant......Page 174
    Model-dependent Coordinated Tracking Algorithm......Page 175
    Coordinated Tracking Algorithm Accounting for Parametric Uncertainties......Page 180
   Coordinated Tracking when the Leader\'s Vector of Generalized Coordinate Derivatives is Varying......Page 183
   Simulation......Page 189
  Notes......Page 190
  Problem Statement......Page 193
   Directed Fixed Interaction......Page 196
   Directed Switching Interaction......Page 200
   Simulation......Page 202
   Absolute Damping......Page 205
   Relative Damping......Page 207
   Simulation......Page 210
  Notes......Page 212
Emergent Issues in Distributed Multi-agent Coordination......Page 213
  Sampled-data Coordinated Tracking for Single-integrator Dynamics......Page 214
   Algorithm Design......Page 215
   Convergence Analysis of the Proportional-derivative-like Discrete-time Coordinated Tracking Algorithm......Page 216
   Comparison Between the Proportional-like and Proportional-derivative-like Discrete-time Coordinated Tracking Algorithms......Page 220
   Simulation......Page 222
   Coordination Algorithms with Absolute and Relative Damping......Page 224
   Convergence Analysis of the Sampled-data Coordination Algorithm with Absolute Damping......Page 225
   Convergence Analysis of the Sampled-data Coordination Algorithm with Relative Damping......Page 231
   Simulation......Page 235
  Sampled-data Coordination for Double-integrator Dynamics Under Switching Interaction......Page 237
   Convergence Analysis of the Sampled-data Coordination Algorithm with Absolute Damping......Page 238
   Convergence Analysis of the Sampled-data Coordination Algorithm with Relative Damping......Page 241
   Simulation......Page 244
  Notes......Page 247
  Problem Statement......Page 248
  Optimal Linear Coordination Algorithms in a Continuous-time Setting from a Linear Quadratic Regulator Perspective......Page 250
   Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 251
   Optimal Scaling Factor Using the Interaction-related Cost Function......Page 254
   Illustrative Examples......Page 257
   Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 258
   Optimal Scaling Factor Using the Interaction-related Cost Function......Page 266
   Illustrative Examples......Page 267
  Notes......Page 268
  Problem Statement......Page 269
   Leaderless Coordination......Page 270
   Coordinated Regulation when the Leader\'s Position is Constant......Page 274
   Coordinated Tracking with Full Access to the Leader\'s Velocity......Page 276
   Coordinated Tracking with Partial Access to the Leader\'s Velocity......Page 279
   Leaderless Coordination......Page 280
   Coordinated Tracking when the Leader\'s Velocity is Constant......Page 283
   Coordinated Tracking with Full Access to the Leader\'s Acceleration......Page 286
   Coordinated Tracking with Partial Access to the Leader\'s Acceleration......Page 288
  Simulation......Page 290
  Notes......Page 293
References......Page 296
Index......Page 310