A Kinematic Model for Swarm Finite-Time Trajectory Tracking

Formation tracking control design for uncertain artificial swarm systems under inequality constraints: Leakage and dead-zone type

The paper proposes a formation tracking control method for the uncertain artificial swarm systems under the inequality constraints. Not only can the agents perform swarm behaviors (e.g., convergence, formation and avoidance of collision), but they can also track the fixed targets in a constrained area (which is formulated as the inequality constraints, such as unilateral constraint and bilateral constraint.). The swarm behaviors are creatively considered as the servo constraints or the control objectives for the swarm agents. Based on the Udwadia-Kalaba (U-K) equation, those prescribed behaviors are realized by a model-based control design (that is the servo constraints force model-based feedforward control). To deal with the inequality constraints in the formation tracking process, a differential homeomorphism transformation is used to relieve the environmental constraints for the swarm agents. Moreover, the uncertainty of the swarm agents (i.e., the parameter uncertainty in modeling and the external disturbances) is considered, which is time-varying and unknown (but bounded). An uncertainty estimation method with dead-zone and leakage term is designed to calculate the possible upper bound of the uncertainty. In virtue of the estimated upper bound of the uncertainty, a robust control is designed for the uncertain swarm agents to obey the prescribed swarm behaviors in the formation tracking task. The system performances of the artificial swarm systems under the proposed control are theoretically guaranteed by a range of rigorous theorems and numerically verified by the simulations of three agents.

Trajectory Modeling by Distributed Gaussian Processes in Multiagent Systems

This paper considers trajectory a modeling problem for a multi-agent system by using the Gaussian processes. The Gaussian process, as the typical data-driven method, is well suited to characterize the model uncertainties and perturbations in a complex environment. To address model uncertainties and noises disturbances, a distributed Gaussian process is proposed to characterize the system model by using local information exchange among neighboring agents, in which a number of agents cooperate without central coordination to estimate a common Gaussian process function based on local measurements and datum received from neighbors. In addition, both the continuous-time system model and the discrete-time system model are considered, in which we design a control Lyapunov function to learn the continuous-time model, and a distributed model predictive control-based approach is used to learn the discrete-time model. Furthermore, we apply a Kullback-Leibler average consensus fusion algorithm to fuse the local prediction results (mean and variance) of the desired Gaussian process. The performance of the proposed distributed Gaussian process is analyzed and is verified by two trajectory tracking examples.

A Swarm-Based Distributed Model Predictive Control Scheme for Autonomous Vehicle Formations in Uncertain Environments

In this article, a novel distributed model predictive control architecture is proposed for the coordination and control of multivehicle formations moving within uncertain environments. As one of its main merits, multiagent swarm modeling and leader-follower configurations are jointly exploited within an ad hoc model predictive control framework to reduce as much as possible the use of onboard sensors that is essential in long-range missions. Moreover, the feasibility and asymptotic closed-loop stability of the resulting scheme are formally proved. Finally, a laboratory experiment is used to show the effectiveness of the proposed algorithm with particular attention to the follower capability of operating in a so-called blind fashion.

Deeply Encoding Stable Patterns From Contaminated Data for Scenery Image Recognition

Effectively recognizing different sceneries with complex backgrounds and varied lighting conditions plays an important role in modern AI systems. Competitive performance has recently been achieved by the deep scene categorization models. However, these models implicitly hypothesize that the image-level labels are 100% correct, which is too restrictive. Practically, the image-level labels for massive-scale scenery sets are usually calculated by external predictors such as ImageNet-CN. These labels can easily become contaminated because no predictors are completely accurate. This article proposes a new deep architecture that calculates scene categories by hierarchically deriving stable templates, which are discovered using a generative model. Specifically, we first construct a semantic space by incorporating image-level labels using subspace embedding. Afterward, it is noticeable that in the semantic space, the superpixel distributions from identically labeled images remain unchanged, regardless of the image-level label noises. On the basis of this observation, a probabilistic generative model learns the stable templates for each scene category. To deeply represent each scenery category, a novel aggregation network is developed to statistically concatenate the CNN features learned from scene annotations predicted by HSA. Finally, the learned deep representations are integrated into an image kernel, which is subsequently incorporated into a multiclass SVM for distinguishing scene categories. Thorough experiments have shown the performance of our method. As a byproduct, an empirical study of 33 SIFT-flow categories shows that the learned stable templates remain almost unchanged under a nearly 36% image label contamination rate.