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  • Open Access


    Circular Formation Control with Collision Avoidance Based on Probabilistic Position

    Hamida Litimein1, Zhen-You Huang1, Muhammad Shamrooz Aslam2,*

    Intelligent Automation & Soft Computing, Vol.37, No.1, pp. 321-341, 2023, DOI:10.32604/iasc.2023.036786

    Abstract In this paper, we study the circular formation problem for the second-order multi-agent systems in a plane, in which the agents maintain a circular formation based on a probabilistic position. A distributed hybrid control protocol based on a probabilistic position is designed to achieve circular formation stabilization and consensus. In the current framework, the mobile agents follow the following rules: 1) the agent must follow a circular trajectory; 2) all the agents in the same circular trajectory must have the same direction. The formation control objective includes two parts: 1) drive all the agents to the circular formation; 2) avoid… More >

  • Open Access


    Thermodynamics Inspired Co-operative Self-Organization of Multiple Autonomous Vehicles

    Ayesha Maqbool1,*, Farkhanda Afzal2, Tauseef Rana3, Alina Mirza4

    Intelligent Automation & Soft Computing, Vol.28, No.3, pp. 653-667, 2021, DOI:10.32604/iasc.2021.017506

    Abstract This paper presents a co-operative, self-organisation method for Multiple Autonomous Vehicles aiming to share surveillance responsibilities. Spatial organization or formation configuration of multiple vehicles/agents’ systems is crucial for a team of agents to achieve their mission objectives. In this paper we present simple yet efficient thermodynamic inspired formation control framework. The proposed method autonomously allocates region of surveillance to each vehicle and also re-adjusts the area of their responsibilities during the mission. It provides framework for heterogeneous UAVs to scatter themselves optimally in order to provide maximum coverage of a given area. The method is inspired from a natural phenomenon… More >

  • Open Access


    Multi-Model Fuzzy Formation Control of UAV Quadrotors

    Abdul-Wahid A. Saif1, Mohammad Ataur-Rahman1, Sami Elferik1, Muhammad F. Mysorewala1, Mujahed Al-Dhaifallah1,*, Fouad Yacef2

    Intelligent Automation & Soft Computing, Vol.27, No.3, pp. 817-834, 2021, DOI:10.32604/iasc.2021.015932

    Abstract In this paper, the formation control problem of a group of unmanned air vehicle (UAV) quadrotors is solved using the Takagi–Sugeno (T–S) multi-model approach to linearize the nonlinear model of UAVs. The nonlinear model sof the quadrotor is linearized first around a set of operating points using Taylor series to get a set of local models. Our approach’s novelty is in considering the difference between the nonlinear model and the linearized ones as disturbance. Then, these linear models are interpolated using the fuzzy T–S approach to approximate the entire nonlinear model. Comparison of the nonlinear and the T–S model shows… More >

  • Open Access


    Formal Approach to Workflow Application Fragmentations Over Cloud Deployment Models

    Hyun Ahn, Kwanghoon Pio Kim*

    CMC-Computers, Materials & Continua, Vol.67, No.3, pp. 3071-3088, 2021, DOI:10.32604/cmc.2021.015280

    Abstract Workflow management technologies have been dramatically improving their deployment architectures and systems along with the evolution and proliferation of cloud distributed computing environments. Especially, such cloud computing environments ought to be providing a suitable distributed computing paradigm to deploy very large-scale workflow processes and applications with scalable on-demand services. In this paper, we focus on the distribution paradigm and its deployment formalism for such very large-scale workflow applications being deployed and enacted across the multiple and heterogeneous cloud computing environments. We propose a formal approach to vertically as well as horizontally fragment very large-scale workflow processes and their applications and… More >

  • Open Access


    Maintaining Complex Formations and Avoiding Obstacles for Multi-Agents

    Yali Wang1, Youqian Feng1, Zhonghai Yin1, Cheng Zhou1, *

    CMC-Computers, Materials & Continua, Vol.62, No.2, pp. 877-891, 2020, DOI:10.32604/cmc.2020.06423

    Abstract This paper researches some problems in complex formation for multi-agents, in which two matrices are proposed to record the formation. The pattern matrix is used to describe the pattern of the formation; meanwhile, the location matrix is used to record the location of each agent. Thus, all desired positions of each agent will be obtained by geometrical relationship on the basis of two matrices above. In addition a self-adaptation flocking algorithm is proposed to control all agents to form a desired formation and avoid obstacles. The main idea is as follows: agents will form a desired formation through the method… More >

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