scholarly journals Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles

2012 ◽  
Vol 2012 ◽  
pp. 1-19 ◽  
Author(s):  
Ming Lei ◽  
Shao-lei Zhou ◽  
Xiu-xia Yang ◽  
Gao-yang Yin
Keyword(s):  
Autonomous Vehicles ◽  
Formation Control ◽  
Data Exchange ◽  
Large Scale ◽  
Initial Time ◽  
Control Laws ◽  
Consensus Algorithms ◽  
Hierarchy Formation ◽  
Leaders And Followers ◽  
Complex Formations

A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.

String Instabilities in Formation Flight: Limitations Due to Integral Constraints

2004 ◽  
Vol 126 (4) ◽  
pp. 873-879 ◽  
Author(s):  
P. Seiler ◽  
A. Pant ◽  
J. K. Hedrick
Keyword(s):  
Flight Control ◽  
Formation Control ◽  
Energy Savings ◽  
Feedback Loops ◽  
Formation Flight ◽  
Control Laws ◽  
Aerodynamic Efficiency ◽  
Preceding Vehicle ◽  
Specific Control ◽  
Theoretical Results

Flying in formation improves aerodynamic efficiency and, consequently, leads to an energy savings. One strategy for formation control is to follow the preceding vehicle. Many researchers have shown through simulation results and analysis of specific control laws that this strategy leads to amplification of disturbances as they propagate through the formation. This effect is known as string instability. In this paper, we show that string instability is due to a fundamental constraint on coupled feedback loops. The tradeoffs imposed by this constraint imply that predecessor following is an inherently poor strategy for formation flight control. Finally, we present two examples that demonstrate the theoretical results.

scholarly journals Adaptable Robot Formation Control: Adaptive and Predictive Formation Control of Autonomous Vehicles

2014 ◽  
Vol 21 (1) ◽  
pp. 28-39 ◽  
Author(s):  
Audrey Guillet ◽  
Roland Lenain ◽  
Benoit Thuilot ◽  
Philippe Martinet
Keyword(s):  
Autonomous Vehicles ◽  
Formation Control

scholarly journals Comparison of Three Different Parallel Computation Methods for a Two-Dimensional Dam-Break Model

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Shanghong Zhang ◽  
Wenda Li ◽  
Zhu Jing ◽  
Yujun Yi ◽  
Yong Zhao
Keyword(s):  
Parallel Computation ◽  
Data Exchange ◽  
Large Scale ◽  
Good Choice ◽  
Dam Break ◽  
Two Dimensional ◽  
Parallel Method ◽  
Parallel Methods ◽  
Storage Area ◽  
Speedup Factor

Three parallel methods (OpenMP, MPI, and OpenACC) are evaluated for the computation of a two-dimensional dam-break model using the explicit finite volume method. A dam-break event in the Pangtoupao flood storage area in China is selected as a case study to demonstrate the key technologies for implementing parallel computation. The subsequent acceleration of the methods is also evaluated. The simulation results show that the OpenMP and MPI parallel methods achieve a speedup factor of 9.8× and 5.1×, respectively, on a 32-core computer, whereas the OpenACC parallel method achieves a speedup factor of 20.7× on NVIDIA Tesla K20c graphics card. The results show that if the memory required by the dam-break simulation does not exceed the memory capacity of a single computer, the OpenMP parallel method is a good choice. Moreover, if GPU acceleration is used, the acceleration of the OpenACC parallel method is the best. Finally, the MPI parallel method is suitable for a model that requires little data exchange and large-scale calculation. This study compares the efficiency and methodology of accelerating algorithms for a dam-break model and can also be used as a reference for selecting the best acceleration method for a similar hydrodynamic model.

Mobile Agent-Based Computing Resource and Usage Monitoring at Large Scale Computer Centers

2011 ◽  
Author(s):  
Zhixin Tie ◽  
David Ko ◽  
Harry H. Cheng
Keyword(s):  
Monitoring System ◽  
Mobile Agent ◽  
Computer Games ◽  
Data Exchange ◽  
Large Scale ◽  
Agent Based ◽  
Computer Center ◽  
Control Command ◽  
Computer Centers ◽  
Computer Resources

Mobile agent technology has become an important approach for the design and development of distributed systems. However, there is little research regarding the monitoring of computer resources and usage at large scale distributed computer centers. This paper presents a mobile agent-based system called the Mobile Agent Based Computer Monitoring System (MABCMS) that supports the dynamic sending and executing of control command, dynamic data exchange, and dynamic deployment of mobile code in C/C++. Based on the Mobile-C library, agents can call low level functions in binary dynamic or static libraries, and thus can monitor computer resources and usage conveniently and efficiently. Two experimental applications have been designed using the MABCMS. The experiments were conducted in a university computer center with hundreds of computer workstations and 15 server machines. The first experiment uses the MABCMS to detect improper usage of the computer workstations, such as playing computer games. The second experimental application uses the MABCMS to detect system resources such as available hard disk space. The experiments show that the mobile agent based monitoring system is an effective method for detecting and interacting with students playing computer games and a practical way to monitor computer resources in large scale distributed computer centers.

scholarly journals Cloud-Based Education As a Service (CEAAS) System Requirements Specification Model of Higher Education Institutions in Industrial Revolution 4.0

2019 ◽  
Vol 8 (2S8) ◽  
pp. 1382-1386 ◽  
Keyword(s):  
Higher Education ◽  
Data Exchange ◽  
Large Scale ◽  
Production Efficiency ◽  
Industrial Revolution ◽  
Higher Education Institutions ◽  
Requirements Specification ◽  
Scale Production ◽  
Research And Innovation ◽  
System Requirements

In today’s higher education institutions (HEIs), intelligentization and digitization of education process are greatly required. Production industries are presently making changes from large-scale production to specialized or customized production. The term Industry 4.0 (IR 4.0) represents the fourth industrial revolution; the present movement or inclination of automation and data exchange and sharing in manufacturing technologies with the main aim of satisfying the individual customer desire and needs. The quick progressions in production technologies and its uses in the industries enhance production efficiency and change the workplace from tasks-based to the human-focused features. Higher education in the IR 4.0 (HE 4.0) is a complex, intricate and intriguing opportunity which has the potential to change the society for the better. The convergence and integration of man and machine will decrease the subject distance between social science and humanity and also technology and science. This will definitely need in-depth and diverse interdisciplinary teaching, research and innovation. Cloud computing (CC) as an IR 4.0 contributing technology, provides a novel means of educating people that will ultimately disrupt the present HEIs systems. Cloud-based education as a service in the era of fourth industry (CEaaS 4.0) can deliver education services in the shortest, most effective, and best affordability. The aim of this study is to propose a CEaaS system requirements specification (SRS) model that includes functional and non-fictional requirements; aligned with IR 4.0, the next industrial revolution.

Reliability Based Scheduling Model (RSM) for Computational Grids

2012 ◽  
pp. 37-54
Author(s):  
Zahid Raza ◽  
Deo P. Vidyarthi
Keyword(s):  
Data Exchange ◽  
Large Scale ◽  
A Priori ◽  
Dynamic Environment ◽  
Computational Grid ◽  
Computational Grids ◽  
Scheduling Model ◽  
Reliability Computation ◽  
Grid Resources ◽  
Maximum Reliability

Computational Grid attributed with distributed load sharing has evolved as a platform to large scale problem solving. Grid is a collection of heterogeneous resources, offering services of varying natures, in which jobs are submitted to any of the participating nodes. Scheduling these jobs in such a complex and dynamic environment has many challenges. Reliability analysis of the grid gains paramount importance because grid involves a large number of resources which may fail anytime, making it unreliable. These failures result in wastage of both computational power and money on the scarce grid resources. It is normally desired that the job should be scheduled in an environment that ensures maximum reliability to the job execution. This work presents a reliability based scheduling model for the jobs on the computational grid. The model considers the failure rate of both the software and hardware grid constituents like application demanding execution, nodes executing the job, and the network links supporting data exchange between the nodes. Job allocation using the proposed scheme becomes trusted as it schedules the job based on a priori reliability computation.

Editorial: Special Issue on New Advances on Formation Control of Autonomous Vehicles

2019 ◽  
Vol 07 (01) ◽  
pp. 1-2
Author(s):  
Shiyu Zhao ◽  
Ziyang Meng ◽  
Ronghao Zheng ◽  
Zhengtao Ding
Keyword(s):  
Autonomous Vehicles ◽  
Formation Control ◽  
Special Issue ◽  
Editorial Special Issue
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