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商品コード: 9783319415932

Continuum Deformation of Multi-Agent Systems

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分野別 > 数学 > 応用数学

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書名

Continuum Deformation of Multi-Agent Systems
著者・編者 Rastgoftar, H.
出版社/発行元 Birkhaeuser
発行年/月 2017年1月   
装丁 Hardcover
ページ数/巻数 200 ページ
ISBN 978-3-319-41593-2
発送予定 海外倉庫よりお取り寄せ 2-3週間以内に発送します

 

Desciption

 

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.

 

Contents:

 

1 Introduction
2 Homogeneous Deformation without Interagent Communication
3 Homogeneous Deformation of Multi-Agent Systems Communication
4 Higher Order Dynamics for MAS Evolution as Continuum Deformation
5 Alignment as Biological Inspiration for Control of Multi-Agent Systems
6 Deployment of a Multi-Agent System on a Desired Formation
7 Continuum Deformation of a Multi-Agent System over Nonlinear Surfaces

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