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Bi-Objective Optimization for Aircraft Conflict Resolution Using Epsilon Constraint Method and TOPSIS |
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Youkyung Hong, Youdan Kim, Somang Lee(Seoul National University, Korea) |
| This study proposes a new conflict resolution strategy through bi-objective optimization. The first and second objective functions are set to reduce the maneuvering amount of aircraft and to reduce the number of maneuvering aircraft, respectively. The epsilon-constraint method is applied to find the Pareto optimal solutions relaxing the tradeoff relationship between two competing objective functions. The best compromise solution among the given alternatives of the Pareto optimal solutions is determined based on the technique for order performance by similarity to an ideal solution. |
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Circular Formation Control of Car-like Robots with Local Position Measurements |
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Ran Wang, Weiguo Xia, Xi-ming Sun(Dalian University of Technology, China) |
| This paper investigates the circular formation control problem of car-like robots with limited sensing range. A path following strategy is proposed to drive the robots to the target circle by controlling the steering velocity. The forward speed controller is designed using the relative position measurements of neighboring robots to guarantee collision avoidance, and finally makes the robots realize a desired spacing configuration. |
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Formation control of wheeled vehicles on a slope |
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Keita Takubo, Shougo Miyagawa, Kiyotsugu Takaba(Ritsumeikan University, Japan) |
| This paper is concerned with the leader-follower formation control problem of wheeled ground vehicles moving on an inclined plane. When ground vehicles run on an inclined surface, it is important to compensate the effect of gravity acting as disturbances in order to achieve a given task. We propose a new formation control method with the aid of disturbance observers which estimate and attenuate the gravitational disturbances. An experimental result demonstrates the effectiveness of the proposed method. |
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Multi-Robot Path Finding Testbed in Wireless Networks against Malicious Attacks |
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Sangcheon Park, Seunghwan Kim(Yonsei University, Korea), Dong-Il Dan Cho, Seohyeong Jang, Jinwoo Sung(Seoul National University, Korea), Seong-Lyun Kim(Yonsei University, Korea) |
| Within a decade, a malicious attack aware network design is of critical importance in an internet of things(IoT) network where the attack frequency coincidentally increases with communication throughput. The main motivation of this article is to apply wireless communication to cooperative path-finding scenario with multiple robots. For this propose, we propose a controllable communication-frequency algorithm (CCF) for deriving the optimal communicating frequency that maximizes the mission accomplished speed. |
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Flocking control and bearing-based formation control |
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Quoc Van Tran, Hyo-Sung Ahn(GIST, Korea) |
| This paper presents velocity consensus and bearing-based formation shape control of double-integrator modeled
agents in an arbitrary dimension. The proposed control law is developed by combining the conventional consensusbased
flocking control and bearing-based formation control. The equilibrium set is first investigated. We then show the
instability of the undesired equilibrium set and locally exponential stability of the desired equilibrium set by using Lyapunov’s
indirect method and center manifold theory. Finally, simulation results are given to support the proposed control
strategy. |
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