Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
Introduction to the Geometric Theory of ODEs with Applications to Chemical Processes Kapitel lesen Erstes Kapitel lesen

2014 | OriginalPaper | Buchkapitel

3. Interacting with Networks of Mobile Agents

verfasst von : Magnus Egerstedt, Jean-Pierre de la Croix, Hiroaki Kawashima, Peter Kingston

Erschienen in: Large-Scale Networks in Engineering and Life Sciences

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

How should human operators interact with teams of mobile agents, whose movements are dictated by decentralized and localized interaction laws? This chapter connects the structure of the underlying information exchange network to how easy or hard it is for human operators to influence the behavior of the team. “Influence” is understood both in terms of controllability, which is a point-to-point property, and manipulability, which is an instantaneous influence notion. These two notions both rely on the assumption that the user can exert control over select leader agents, and we contrast this with another approach whereby the agents are modeled as particles suspended in a fluid, which can be “stirred” by the operator. The theoretical developments are coupled with multirobot experiments and human user-studies to support the practical viability and feasibility of the proposed methods.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Vorheriges Kapitel Mathematical Modeling and Analysis of Nonlinear Time-Invariant RLC Circuits
Nächstes Kapitel Combinatorial Optimization: The Interplay of Graph Theory, Linear and Integer Programming Illustrated on Network Flow
Fußnoten
1
Note that if the states were nonscalar, the analysis still holds even though one has to decompose the system dynamics along the different dimensions of the states.
 
Literatur
1.
Bicchi, A., Prattichizzo, D.: Manipulability of cooperating robots with unactuated joints and closed-chain mechanisms. IEEE Trans. Robot. Autom. 16(4), 336–345 (2000) CrossRef
2.
Bicchi, A., Melchiorri, C., Balluchi, D.: On the mobility and manipulability of general multiple limb robots. IEEE Trans. Robot. Autom. 11(2), 215–228 (1995) CrossRef
3.
Bullo, F., Cortés, J., Martínez, S.: Distributed Control of Robotic Networks. A Mathematical Approach to Motion Coordination Algorithms. Princeton University Press, Princeton (2009) MATH
4.
de la Croix, J.P., Egerstedt, M.: Controllability characterizations of leader-based swarm interactions. In: AAAI Symposium on Human Control of Bio-Inspired Swarms, Arlington, DC, Nov. 2012 (2012)
5.
Egerstedt, M.: Controllability of networked systems. In: Mathematical Theory of Networks and Systems, Budapest, Hungary, 2010, pp. 57–61 (2010)
6.
Egerstedt, M., Martini, S., Cao, M., Camlibel, K., Bicchi, A.: Interacting with networks: how does structure relate to controllability in single-leader consensus networks? IEEE Control Syst. Mag. 32(4), 66–73 (2012) MathSciNetCrossRef
7.
Eren, T., Belhumeur, P.: A framework for maintaining formations based on rigidity. In: Proc. 15th IFAC World Congress, pp. 2752–2757 (2002)
8.
Fax, J.A., Murray, R.M.: Graph Laplacian and stabilization of vehicle formations. In: Proc. 15th IFAC World Congress (2002)
9.
Girden, E.R.: ANOVA: Repeated Measures. Sage, Thousand Oaks (1991)
10.
11.
Hart, S.G., Staveland, L.E.: Development of NASA-TLX (Task Load Index): results of empirical and theoretical research. In: Hancock, A., Meshkati, N. (eds.) Human Mental Workload. North-Holland, Amsterdam (1988)
12.
Jadbabaie, A., Lin, J., Morse, A.S.: Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control 48(6), 988–1001 (2003) MathSciNetCrossRef
13.
Ji, M., Egerstedt, M.: Distributed coordination control of multi-agent systems while preserving connectedness. IEEE Trans. Robot. 23(4), 693–703 (2007) CrossRef
14.
Ji, M., Azuma, S., Egerstedt, M.: Role assignment in multi-agent coordination. Int. J. Assist. Robot. Mechatron. 7(1), 32–40 (2006)
15.
Kawashima, H., Egerstedt, M.: Approximate manipulability of leader-follower networks. In: IEEE Conference on Decision and Control and European Control Conference, pp. 6618–6623 (2011) CrossRef
16.
Martini, S., Egerstedt, M., Bicchi, A.: Controllability decompositions of networked systems through quotient graphs. In: IEEE Conference on Decision and Control, Cancun, Mexico, Dec. 2008, pp. 2717–2722 (2008)
17.
Mesbahi, M., Egerstedt, M.: Graph Theoretic Methods in Multiagent Networks. Princeton University Press, Princeton (2010) MATH
18.
Ogren, P., Egerstedt, M., Hu, X.: A control Lyapunov function approach to multi-agent coordination. IEEE Trans. Robot. Autom. 18(5), 847–851 (2002) CrossRef
19.
Olfati-Saber, R., Murray, R.M.: Distributed structural stabilization and tracking for formations of dynamic multi-agents. In: Proc. 41st IEEE Conf. Decision Control, Dec. 2002, vol. 1, pp. 209–215, (2002)
20.
Olfati-Saber, R., Murray, R.M.: Consensus protocols for networks of dynamic agents. In: American Control Conference, Denver, CO, June 2003, pp. 951–956 (2003)
21.
Rahmani, A., Ji, M., Mesbahi, M., Egerstedt, M.: Controllability of multi-agent systems from a graph-theoretic perspective. SIAM J. Control Optim. 48(1), 162–186 (2009) MathSciNetCrossRefMATH
22.
Ren, W., Beard, R.W.: Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Autom. Control 50(5), 655–661 (2005) MathSciNetCrossRef
23.
Reynolds, C.: Flocks, herds and schools: a distributed behavioral model. Proc. ACM SIGGRAPH 21(4), 25–34 (1987) CrossRef
24.
25.
Tanner, H., Jadbabaie, A., Pappas, G.J.: Flocking in fixed and switching networks. IEEE Trans. Autom. Control 52(5), 863–868 (2007) MathSciNetCrossRef
26.
27.
Zhang, S., Camlibel, K., Cao, M.: Controllability of diffusively-coupled multi-agent systems with general and distance regular coupling topologies. In: IEEE Conference on Decision and Control, Orlando, FL, Dec. 2011 (2011)
Metadaten
Titel
Interacting with Networks of Mobile Agents
verfasst von
Magnus Egerstedt
Jean-Pierre de la Croix
Hiroaki Kawashima
Peter Kingston
Copyright-Jahr
2014
Buch
Large-Scale Networks in Engineering and Life Sciences

Print ISBN: 978-3-319-08436-7

Electronic ISBN: 978-3-319-08437-4

Copyright-Jahr: 2014

DOI
https://doi.org/10.1007/978-3-319-08437-4_3