[1]DAI Li.Leaders’ selection for UAV swarm with two-way communication[J].CAAI Transactions on Intelligent Systems,2021,16(3):484-492.[doi:10.11992/tis.202006010]
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Leaders’ selection for UAV swarm with two-way communication
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
16
Number of periods:
2021 3
Page number:
484-492
Column:
学术论文—智能系统
Public date:
2021-05-05
- Title:
- Leaders’ selection for UAV swarm with two-way communication
- Keywords:
- leader’s selection; leader-follower framework; undirected network; Laplacian matrix; controllability; critical vertex set; minimum leader set; algorithm
- CLC:
- TP273
- DOI:
- 10.11992/tis.202006010
- Abstract:
- Leaders’ selection plays a vital role in the controllability of multiagent systems, such as the leader-follower framework of UAVs. Using the UAV swarm with dozens of individuals as the research object and aiming at the problem of leaders’ selection, this paper proposes a critical set based on the eigenvector of a Laplace matrix. Theoretically, the graphical characteristics of two, three, and isolated critical sets are proved. Based on this, an algorithm named CSA for finding the minimum critical set of undirected communication networks is presented. Finally, numerical simulation is used to obtain the numerical features of the minimum leaders of UAVs of various sizes and communication radii.
- References:
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Last Update:
2021-06-25