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Information-based Optimal Deployment for a Group of Dynamic Unicycles

  • Maode Yan
  • Yaoren Guo
  • Lei Zuo
  • Panpan Yang
Article
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Abstract

In this paper, we investigate the optimal deployment problems for a group of dynamic unicycles in a given region. The information of interests over this region is considered such that the region with higher interests can get more attentions. Firstly, we present a cost function to describe the performance of multi-unicycle systems and find out the optimal locations for unicycles. Then, we transform this information-based optimal deployment problem into a moving target tracking problem and propose a novel kinematic control protocol to drive unicycles to the optimal locations. On this basis, an algorithm is provided for the dynamic unicycles by using the back-stepping techniques. Moreover, we demonstrate the stability and convergence of the proposed multi-unicycle systems. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.

Keywords

Back-stepping Techniques cost function dynamic unicycles information-based optimal deployment 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Electronic and Control EngineeringChang’an UniversityXi’anP. R. China

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