Yirui Cong — Page 2

arXiv2015

Multi-Agent Distributed Coordination Control: Developments and Directions

In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the multi-agent distributed coordination control, together with brief reviews of some closely related issues including rendezvous/alignment, swarming/flocking and containment control.In terms of the consensus problem, the recent results on consensus for the agents with different dynamics from first-order, second-order to high-order linear and nonlinear dynamics, under different communication conditions, such as cases with/without switching communication topology and varying time-delays, are reviewed, in which the algebraic graph theory is very useful in the protocol designs, stability proofs and converging analysis. In terms of the formation control problem, after reviewing the results of the algebraic graph theory employed in the formation control, we mainly pay attention to the developments of the rigid and persistent graphs. With the notions of rigidity and persistence, the formation transformation, splitting and reconstruction can be completed, and consequently the range-based formation control laws are designed with the least required information in order to maintain a formation rigid/persistent. Afterwards, the recent results on rendezvous/alignment, swarming/flocking and containment control, which are very closely related to consensus and formation control, are briefly introduced, in order to present an integrated view of the graph theory used in the coordination control problem. Finally, towards the practical applications, some directions possibly deserving investigation in coordination control are raised as well.

cs.MA↗

arXiv2015

Interference Prediction in Mobile Ad Hoc Networks with a General Mobility Model

In a mobile ad hoc network (MANET), effective prediction of time-varying interferences can enable adaptive transmission designs and therefore improve the communication performance. This paper investigates interference prediction in MANETs with a finite number of nodes by proposing and using a general-order linear model for node mobility. The proposed mobility model can well approximate node dynamics of practical MANETs. In contrast to previous studies on interference statistics, we are able through this model to give a best estimate of the time-varying interference at any time rather than long-term average effects. Specifically, we propose a compound Gaussian point process functional as a general framework to obtain analytical results on the mean value and moment-generating function of the interference prediction. With a series form of this functional, we give the necessary and sufficient condition for when the prediction is essentially equivalent to that from a Binomial Point Process (BPP) network in the limit as time goes to infinity. These conditions permit one to rigorously determine when the commonly used BPP approximations are valid. Finally, our simulation results corroborate the effectiveness and accuracy of the analytical results on interference prediction and also show the advantages of our method in dealing with complex mobilities.

cs.IT↗