TY - GEN
T1 - New flocking algorithms based on a two-layer structure
AU - Liu, Deming
AU - Fang, Hao
AU - Shang, Chengsi
AU - Dou, Lihua
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - In this paper, we propose two flocking algorithms based on a two-layer structure. Using these distributed algorithms, the flocking system can be easily controlled. In this structure, the upper-layer network receiving human input is used to make the swarm move according to human expectation, and the lower-layer network is used to make the swarm act as flock. The passivity of the overall algorithms is proved. The performance of the proposed algorithms is evaluated in simulation. Compared to the traditional flocking system, the two-layer system responds more quickly to the operator, and the operation is more convenient.
AB - In this paper, we propose two flocking algorithms based on a two-layer structure. Using these distributed algorithms, the flocking system can be easily controlled. In this structure, the upper-layer network receiving human input is used to make the swarm move according to human expectation, and the lower-layer network is used to make the swarm act as flock. The passivity of the overall algorithms is proved. The performance of the proposed algorithms is evaluated in simulation. Compared to the traditional flocking system, the two-layer system responds more quickly to the operator, and the operation is more convenient.
UR - http://www.scopus.com/inward/record.url?scp=85075787986&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2019.8899482
DO - 10.1109/ICCA.2019.8899482
M3 - Conference contribution
AN - SCOPUS:85075787986
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1120
EP - 1125
BT - 2019 IEEE 15th International Conference on Control and Automation, ICCA 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Control and Automation, ICCA 2019
Y2 - 16 July 2019 through 19 July 2019
ER -