Communication topology optimization for three-dimensional persistent formation with leader constraint
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Communication topology optimization for three-dimensional persistent formation with leader constraint Guoqiang Wang1,2 · He Luo1,2
· Xiaoxuan Hu1,2 · Shanlin Yang1,2
Received: 13 February 2018 / Accepted: 2 August 2018 © Springer-Verlag GmbH Germany, part of Springer Nature 2018
Abstract We address the communication topology optimization problem for a three-dimensional persistent formation with leader constraint to minimize the formation communication cost while maintaining its shape. We first analyze the formation shape, network topology, communication topology, and leader constraint of a three-dimensional persistent formation to establish the optimization model of the problem. We then propose an exact algorithm, which includes three kernel sub-algorithms, to solve the model, and theoretically prove its validity. A numerical example is shown to demonstrate the effectiveness of the algorithm. Keywords Communication topology optimization · Three-dimensional persistent formation · Leader constraint · Three-dimensional optimally persistent graph · Formation communication cost
1 Introduction In many multi-agent system (MAS) applications, all agents must maintain a formation shape, such as a formation of satellites in space-based solar-power missions [1], wheeled robots moving in a formation in large-object transportation tasks [2], and unmanned aerial vehicles flying in a formation to attain improved sensitivity in surveillance or exploration activities [3]. Two major approaches to maintain the formation shape are displacement- and distance-based formation control [4], where each agent in the latter must only maintain a prescribed distance(s) to its neighbor(s) without a common directional reference frame. Research on persistent formation, a new
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He Luo [email protected]
1
School of Management, Hefei University of Technology, Hefei, China
2
Key Laboratory of Process Optimization and Intelligent Decision-Making, Ministry of Education, Hefei, China
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G. Wang et al.
type of agent formation, has drawn increased attention in recent years [5–7], can be applied to both two- [8] and three-dimensional space [9]. Using a new distance-based formation-control method to maintain the formation shape minimizes the communication complexity among agents. During the movement of persistent formation, one or more agents acts as the leader, which will track the predefined formation reference trajectory and maintain a constant distance from another leader by information exchange through the communication link between them. Other agents act as followers, which maintain a constant distance from some adjacent agents by information exchange through the communication link between them. These communication links constitute the communication topology [10] of persistent formation. When the communication topology of a formation is a persistent graph, the formation shape can be maintained. Because the communication links between agents have a certain cost, an efficient communication topology-optimization method is necessary to reduce
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