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Predictive control for trajectory tracking and decentralized navigation of multi-agent formations

100%
Prodan I., Olaru S., Stoica C., Niculescu S.-I.
International Journal of Applied Mathematics and Computer Science
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2013
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tom 23
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nr 1
91-102
EN
This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader. Then, the remaining agents, designed as followers, track the position and orientation of the leader. In real-time, a predictive control strategy enhanced with the potential field methodology is used in order to derive a feedback control action based only on local information within the group of agents. The main concern is that the interconnections between the agents are time-varying, affecting the neighborhood around each agent. The proposed method exhibits effective performance validated through some illustrative examples.
2
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An agent-oriented hierarchic strategy for solving inverse problems

100%
Smołka M., Schaefer R., Paszyński M., Pardo D., Álvarez-Aramberri J.
International Journal of Applied Mathematics and Computer Science
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2015
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tom 25
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nr 3
483-498
EN
The paper discusses the complex, agent-oriented hierarchic memetic strategy (HMS) dedicated to solving inverse parametric problems. The strategy goes beyond the idea of two-phase global optimization algorithms. The global search performed by a tree of dependent demes is dynamically alternated with local, steepest descent searches. The strategy offers exceptionally low computational costs, mainly because the direct solver accuracy (performed by the hp-adaptive finite element method) is dynamically adjusted for each inverse search step. The computational cost is further decreased by the strategy employed for solution inter-processing and fitness deterioration. The HMS efficiency is compared with the results of a standard evolutionary technique, as well as with the multi-start strategy on benchmarks that exhibit typical inverse problems' difficulties. Finally, an HMS application to a real-life engineering problem leading to the identification of oil deposits by inverting magnetotelluric measurements is presented. The HMS applicability to the inversion of magnetotelluric data is also mathematically verified.
3
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A matrix inequality based design method for consensus problems in multi-agent systems

86%
Okuno S., Imae J., Kobayashi T.
International Journal of Applied Mathematics and Computer Science
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2009
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tom 19
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nr 4
639-646
EN
In this paper, we study a consensus problem in multi-agent systems, where the entire system is decentralized in the sense that each agent can only obtain information (states or outputs) from its neighbor agents. The existing design methods found in the literature are mostly based on a graph Laplacian of the graph which describes the interconnection structure among the agents, and such methods cannot deal with complicated control specification. For this purpose, we propose to reduce the consensus problem at hand to the solving of a strict matrix inequality with respect to a Lyapunov matrix and a controller gain matrix, and we propose two algorithms for solving the matrix inequality. It turns out that this method includes the existing Laplacian based method as a special case and can deal with various additional control requirements such as the convergence rate and actuator constraints.
4
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Uncertainty models of vision sensors in mobile robot positioning

86%
Skrzypczyński P.
International Journal of Applied Mathematics and Computer Science
|
2005
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tom 15
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nr 1
73-88
EN
This paper discusses how uncertainty models of vision-based positioning sensors can be used to support the planning and optimization of positioning actions for mobile robots. Two sensor types are considered: a global vision with overhead cameras, and an on-board camera observing artificial landmarks. The developed sensor models are applied to optimize robot positioning actions in a distributed system of mobile robots and monitoring sensors, and to plan the sequence of actions for a robot cooperating with the external infrastructure supporting its navigation.
5
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The Dynamic Epistemic Logic for Actual Knowledge

86%
Wójcik A.
Bulletin of the Section of Logic
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2020
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tom 49
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nr 1
EN
The dynamic epistemic logic for actual knowledge models the phenomenon of actual knowledge change when new information is received. In contrast to the systems of dynamic epistemic logic which have been discussed in the past literature, our system is not burdened with the problem of logical omniscience, that is, an idealized assumption that the agent explicitly knows all classical tautologies and all logical consequences of his or her knowledge. We provide a sound and complete axiomatization for this logic.
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