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Cooperative Systems

E-BookPDF1 - PDF WatermarkE-Book
403 Seiten
Englisch
Springer Berlin Heidelbergerschienen am21.03.20072007
Because of the clearly important role cooperative systems play in areas such as military sciences, biology, communications, robotics, and economics, just to name a few, the study of cooperative systems has intensified. This book provides an insight in the basic understanding of cooperative systems as well as in theory, modeling, and applications of cooperative control, optimization and related problems.mehr
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E-BookPDF1 - PDF WatermarkE-Book
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Produkt

KlappentextBecause of the clearly important role cooperative systems play in areas such as military sciences, biology, communications, robotics, and economics, just to name a few, the study of cooperative systems has intensified. This book provides an insight in the basic understanding of cooperative systems as well as in theory, modeling, and applications of cooperative control, optimization and related problems.
Details
Weitere ISBN/GTIN9783540482710
ProduktartE-Book
EinbandartE-Book
FormatPDF
Format Hinweis1 - PDF Watermark
FormatE107
Erscheinungsjahr2007
Erscheinungsdatum21.03.2007
Auflage2007
ReiheLecture Notes in Economics and Mathematical Systems
Reihen-Nr.588
Seiten403 Seiten
SpracheEnglisch
IllustrationenX, 403 p. 173 illus.
Artikel-Nr.1424622
Rubriken
Genre9200

Inhalt/Kritik

Inhaltsverzeichnis
1;Preface;5
2;Contents;7
3;Optimally Greedy Control of Team Dispatching Systems;10
3.1;1 Introduction;10
3.2;2 Framework and Problem Formulation;12
3.3;3 Performance Under Oversubscription;17
3.4;4 Optimally Greedy Dispatching;20
3.5;5 Applications;23
3.6;6 Conclusions;25
3.7;References;25
3.8;A Proofs;26
4;Heuristics for Designing the Control of a UAV Fleet With Model Checking;29
4.1;1 Introduction;29
4.2;2 Background;30
4.3;3 Heuristics;32
4.4;4 Necessary Pursuer Qualities for Simple Game Variants;39
4.5;5 Conclusions and Future Work;43
4.6;References;44
5;Unmanned Helicopter Formation Flight Experiment for the Study of Mesh Stability;45
5.1;1 Introduction;45
5.2;2 Background;46
5.3;3 Experimental Setup;50
5.4;4 Results;55
5.5;5 Discussion of Results;57
5.6;6 Conclusion;63
5.7;Acknowledgments;63
5.8;References;63
6;Cooperative Estimation Algorithms Using TDOA Measurements;65
6.1;1 Introduction;65
6.2;2 Measurements from Signals of Opportunity;66
6.3;3 Using Measurements from Signals of Opportunity;68
6.4;4 Conclusion;73
6.5;5 Disclaimer;73
6.6;References;74
7;A Comparative Study of Target Localization Methods for Large GDOP;75
7.1;1 Introduction;75
7.2;2 Background;76
7.3;3 AOA Triangulation Algorithm;80
7.4;4 Angle-Rate Algorithm;81
7.5;5 Algorithm Comparison;83
7.6;6 Conclusions and Future Work;85
7.7;References;86
8;Leaderless Cooperative Formation Control of Autonomous Mobile Robots Under Limited Communication Range Constraints;87
8.1;1 Introduction;87
8.2;2 Problem Formulation;89
8.3;3 Leaderless Cooperative Control Design;94
8.4;4 Simulation;103
8.5;5 Conclusion;108
8.6;References;110
9;Alternative Control Methodologies for Patrolling Assets With Unmanned Air Vehicles;113
9.1;1 Introduction;113
9.2;2 Related Works;114
9.3;3 Methods;115
9.4;4 Conclusions and Future Work;121
9.5;References;122
10;A Grammatical Approach to Cooperative Control;124
10.1;1 Introduction;124
10.2;2 Related Work;125
10.3;3 Systems and Graphs;126
10.4;4 Propositions About Graphs;131
10.5;5 Macrostates;132
10.6;6 Reasoning About Graph Grammars;134
10.7;7 Simulation Results;140
10.8;8 Discussion;144
10.9;References;144
11;A Distributed System for Collaboration and Control of UAV Groups: Experiments and Analysis;146
11.1;1 Introduction;147
11.2;2 Mission Plan;148
11.3;3 Mission State Estimates;150
11.4;4 Agents;152
11.5;5 Simulation;155
11.6;6 Example Mission Simulation;158
11.7;7 Conclusions and Future Work;161
11.8;References;162
12;Consensus Variable Approach to Decentralized Adaptive Scheduling;164
12.1;1 Introduction;164
12.2;2 Consensus Variables;165
12.3;3 Synchronized Strike Application;167
12.4;4 System Architecture;171
12.5;5 Concluding Comments;172
12.6;References;175
13;A Markov Chain Approach to Analysis of Cooperation in Multi- Agent Search Missions;177
13.1;1 Introduction;177
13.2;2 Cooperative Search;179
13.3;3 Bi-level Cooperative Search Model;185
13.4;Conclusions;190
13.5;References;190
14;A Markov Analysis of the Cueing Capability/ Detection Rate Trade-space in Search and Rescue;191
14.1;1 Introduction;191
14.2;2 Approach;192
14.3;3 Results;197
14.4;4 Summary;201
14.5;References;201
15;Challenges in Building Very Large Teams;203
15.1;1 Intro;203
15.2;2 Problem Description;206
15.3;3 Algorithms;210
15.4;4 Synergies Between Algorithms;214
15.5;5 Human-in-the-Loop;215
15.6;6 Implementation;218
15.7;7 Results;219
15.8;8 Related Work;227
15.9;9 Conclusions and Future Work;230
15.10;Acknowledgements;230
15.11;References;230
16;Model Predictive Path-Space Iteration for Multi- Robot Coordination;235
16.1;1 Introduction;235
16.2;2 Mathematical Preliminaries;237
16.3;3 Centralized MPC/Path-space Iteration;242
16.4;4 Decentralized MPC/Path-space Iteration;251
16.5;5 Conclusions;255
16.6;6 Acknowledgments;257
16.7;References;257
17;Path Planning for a Collection of Vehicles With Yaw Rate Constraints;260
17.1;1 Introduction;260
17.2;2 Problem Setting;262
17.3;3 Resource Allocation Problem;264
17.4;4 Single Vehicle Path Planning;264
17.5;5 Multiple Vehicle Path Planning;265
17.6;6 Conclusions and Future Directions of the Current Work;271
17.7;7 Acknowledgements;271
17.8;References;271
18;Estimating the Probability Distributions of Alloy Impact Toughness: a Constrained Quantile Regression Approach;274
18.1;1 Introduction;274
18.2;2 Estimating the Quantile Function With Constrained Quantile Regression;275
18.3;3 Case Study: Estimating the Impact Toughness Distribution of Steel Alloys;278
18.4;4 Summary;279
18.5;References;280
18.6;A Substantiation of the Unimodality Constraints;281
18.7;B Histograms for Selected Distributions of log CVN at-84.C;283
19;A One-Pass Heuristic for Cooperative Communication in Mobile Ad Hoc Networks;289
19.1;1 Introduction;289
19.2;2 Problem Statement;291
19.3;3 Previous Work;292
19.4;4 Construction Heuristic;293
19.5;5 Local Search Heuristic;295
19.6;6 Combining Algorithms into a One-Pass Heuristic;296
19.7;7 Computational Results;297
19.8;8 Conclusions and Future Research;298
19.9;Acknowledgments;299
19.10;References;299
20;Mathematical Modeling and Optimization of Superconducting Sensors with Magnetic Levitation;301
20.1;1 Introduction;301
20.2;2 Stability and Levitation;303
20.3;3 Dynamics of Magnetically Levitated Systems;305
20.4;4 Optimal Synthesis of Chaotic Dynamics;315
20.5;5 Chaotic Dynamics of the Levitated Probe;317
20.6;6 Nonlinear Dynamics and Chaos;318
20.7;7 Conclusions;319
20.8;References;320
21;Stochastic Optimization and Worst- case Decisions;321
21.1;1 Introduction;321
21.2;2 The Minimax Approach;322
21.3;3 Macroeconomics Policy Making;324
21.4;4 Financial Portfolio Management;329
21.5;5 Conclusions;340
21.6;Acknowledgments;342
21.7;References;342
22;Decentralized Estimation for Cooperative Phantom Track Generation;343
22.1;1 Introduction;343
22.2;2 One-On-One Problem;344
22.3;3 Team Decision Problem;346
22.4;4 Estimation-Decision Process;350
22.5;5 Conclusions;352
22.6;References;353
23;Information Flow Requirements for the Stability of Motion of Vehicles in a Rigid Formation;355
23.1;1 Introduction;356
23.2;2 Problem Formulation for a String of Vehicles Traveling Along a Straight Line;358
23.3;3 Simulations;367
23.4;4 Conclusions;368
23.5;References;371
24;Formation Control of Nonholonomic Mobile Robots Using Graph Theoretical Methods;372
24.1;1 Introduction;372
24.2;2 Graph Theory;374
24.3;3 Problem Statement;375
24.4;4 Controller Design;376
24.5;5 Illustrative Examples;383
24.6;6 Conclusion;386
24.7;References;387
25;Comparison of Cooperative Search Algorithms for Mobile RF Targets Using Multiple Unmanned Aerial Vehicles;390
25.1;1 Introduction;390
25.2;2 Cooperative Control Algorithm I;391
25.3;3 Cooperative Control Algorithm II;396
25.4;4 Results;400
25.5;5 Conclusion and Future Work;402
25.6;References;406mehr

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