FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2275688253> ?p ?o ?g. }

• W2275688253 abstract "The present work considers the design of control algorithms to coordinate a swarm of identical, autonomous, cooperating agents that evolve on compact Lie groups. The objective is that the agents reach a so-called consensus state without using any external reference. In the same line of thought, a leader-follower approach where ’follower’ agents would track one ’leader’ agent is excluded, in favor of a fully cooperative strategy. Moreover, the presence of communication links between agents is explicitly restricted, leading to undirected, directed and/or time-varying communication structures. Two levels of complexity are considered for the models of the agents. First, they are modeled as simple integrators on Lie groups. This setting is meaningful in a trajectory-planning context for swarms of mechanical vehicles, or to solve algorithmic problems involving multiple agent coordination. In a second step, the model of Newtonian mechanics is used for Lie group solids, which correspond to the abstraction of the Euler laws for the rotation of a rigid body to general Lie groups. This setting is relevant for the actual control of mechanical vehicles through torques and forces. As a common starting point, the consensus problem is formulated in terms of the extrema of a cost function. This cost function is linked to a specific centroid definition on manifolds, which is referred to in this work as the induced arithmetic mean, that is easily computable in closed form and hence may be of independent interest. Using the integrator model, this naturally leads to efficient gradient algorithms to synchronize (i.e. maximizing the consensus) or balance (i.e. minimizing the consensus) the agents; the latter however can only implement the corresponding control laws if the communication graph is fixed and undirected. For directed and/or varying communication graphs, a convenient adaptation of the gradient algorithms is obtained using auxiliary estimator variables that evolve in an embedding vector space. An extension of these results to homogeneous manifolds is briefly discussed. For the mechanical model, the coordination objective is specialized to coordinated motion (i.e. moving such that the relative positions of the agents are conserved) and synchronization (i.e. having all the agents at the same position on the Lie group). Control laws are derived using two classical approaches of nonlinear control tracking and energy shaping. They are both based on the ideas developed in the first part. For the sake of easier understanding and given its practical importance as representing orientations of rigid bodies in 3-dimensional space, the group SO(3) (or more generally SO(n)) is used as a running example throughout this report. Other examples are the circle SO(2) and, for the extension to homogeneous manifolds, the Grassmann manifolds Grass(p, n). As this report is written in the middle of research activities, it closes with several future research directions that can be explored in the continuity of the present work." @default.
• W2275688253 created "2016-06-24" @default.
• W2275688253 creator A5016288250 @default.
• W2275688253 date "2007-06-01" @default.
• W2275688253 modified "2023-09-27" @default.
• W2275688253 title "Towards coordination algorithms on compact Lie groups" @default.
• W2275688253 cites W1483882723 @default.
• W2275688253 cites W152416454 @default.
• W2275688253 cites W1524590822 @default.
• W2275688253 cites W1578099820 @default.
• W2275688253 cites W1677466651 @default.
• W2275688253 cites W1704609 @default.
• W2275688253 cites W1804110266 @default.
• W2275688253 cites W1805843217 @default.
• W2275688253 cites W1894990513 @default.
• W2275688253 cites W1971035315 @default.
• W2275688253 cites W1979375063 @default.
• W2275688253 cites W1982779826 @default.
• W2275688253 cites W1984420702 @default.
• W2275688253 cites W1990304174 @default.
• W2275688253 cites W1997648297 @default.
• W2275688253 cites W2001133651 @default.
• W2275688253 cites W2015410655 @default.
• W2275688253 cites W2017587562 @default.
• W2275688253 cites W2025800439 @default.
• W2275688253 cites W2035469609 @default.
• W2275688253 cites W2045512849 @default.
• W2275688253 cites W2064404969 @default.
• W2275688253 cites W2073857298 @default.
• W2275688253 cites W2076406414 @default.
• W2275688253 cites W2084371156 @default.
• W2275688253 cites W2089724372 @default.
• W2275688253 cites W2105527440 @default.
• W2275688253 cites W2106615687 @default.
• W2275688253 cites W2107396783 @default.
• W2275688253 cites W2111749847 @default.
• W2275688253 cites W2116630866 @default.
• W2275688253 cites W2118420048 @default.
• W2275688253 cites W2120613449 @default.
• W2275688253 cites W2124228020 @default.
• W2275688253 cites W2125668987 @default.
• W2275688253 cites W2126323506 @default.
• W2275688253 cites W2126479355 @default.
• W2275688253 cites W2128084896 @default.
• W2275688253 cites W2128924023 @default.
• W2275688253 cites W2130518506 @default.
• W2275688253 cites W2133351708 @default.
• W2275688253 cites W2133776435 @default.
• W2275688253 cites W2139504267 @default.
• W2275688253 cites W2140774106 @default.
• W2275688253 cites W2140796472 @default.
• W2275688253 cites W2143769694 @default.
• W2275688253 cites W2143983987 @default.
• W2275688253 cites W2145099095 @default.
• W2275688253 cites W2145574455 @default.
• W2275688253 cites W2146890818 @default.
• W2275688253 cites W2147631863 @default.
• W2275688253 cites W2147928602 @default.
• W2275688253 cites W2152556309 @default.
• W2275688253 cites W2152916654 @default.
• W2275688253 cites W2154834860 @default.
• W2275688253 cites W2155965955 @default.
• W2275688253 cites W2162876202 @default.
• W2275688253 cites W2165744313 @default.
• W2275688253 cites W2168132433 @default.
• W2275688253 cites W2195081763 @default.
• W2275688253 cites W2292988288 @default.
• W2275688253 cites W2562983303 @default.
• W2275688253 cites W2810946555 @default.
• W2275688253 cites W3012377150 @default.
• W2275688253 cites W3123981073 @default.
• W2275688253 cites W3151561965 @default.
• W2275688253 cites W85112348 @default.
• W2275688253 cites W152290553 @default.
• W2275688253 hasPublicationYear "2007" @default.
• W2275688253 type Work @default.
• W2275688253 sameAs 2275688253 @default.
• W2275688253 citedByCount "1" @default.
• W2275688253 countsByYear W22756882532014 @default.
• W2275688253 crossrefType "journal-article" @default.
• W2275688253 hasAuthorship W2275688253A5016288250 @default.
• W2275688253 hasConcept C11413529 @default.
• W2275688253 hasConcept C121332964 @default.
• W2275688253 hasConcept C14036430 @default.
• W2275688253 hasConcept C145980571 @default.
• W2275688253 hasConcept C151730666 @default.
• W2275688253 hasConcept C187915474 @default.
• W2275688253 hasConcept C202444582 @default.
• W2275688253 hasConcept C2779343474 @default.
• W2275688253 hasConcept C33923547 @default.
• W2275688253 hasConcept C41008148 @default.
• W2275688253 hasConcept C74650414 @default.
• W2275688253 hasConcept C78458016 @default.
• W2275688253 hasConcept C86803240 @default.
• W2275688253 hasConceptScore W2275688253C11413529 @default.
• W2275688253 hasConceptScore W2275688253C121332964 @default.
• W2275688253 hasConceptScore W2275688253C14036430 @default.
• W2275688253 hasConceptScore W2275688253C145980571 @default.
• W2275688253 hasConceptScore W2275688253C151730666 @default.
• W2275688253 hasConceptScore W2275688253C187915474 @default.

• next