國立高雄大學圖資館 |

Language: English

Back

Multi-robot systemscoordinated fencing control and applications /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Multi-robot systemsby Bin-Bin Hu, Hai-Tao Zhang.
Reminder of title:	coordinated fencing control and applications /
Author:	Hu, Bin-Bin.
other author:	Zhang, Hai-Tao.
Published:	Singapore :Springer Nature Singapore :2025.
Description:	xiv, 200 p. :ill., digital ;24 cm.
Contained By:	Springer Nature eBook
Subject:	Multiagent systems.
Online resource:	https://doi.org/10.1007/978-981-97-9214-6
ISBN:	9789819792146$q(electronic bk.)

Multi-robot systemscoordinated fencing control and applications /
Hu, Bin-Bin.

Multi-robot systemscoordinated fencing control and applications /[electronic resource] :by Bin-Bin Hu, Hai-Tao Zhang. - Singapore :Springer Nature Singapore :2025. - xiv, 200 p. :ill., digital ;24 cm. - Cognitive intelligence and robotics,2520-1964. - Cognitive intelligence and robotics..

Introduction to Coordinated Multi-Robot Fencing Control -- Distributed Fencing Control via Neighboring Angle Repulsion -- Distributed Fencing Control Via Input-To-State Stability -- Distributed Fencing Control via Ouput Regulation Theory -- Distributed Fencing Control via Long-Term Task Execution -- Coordinated Multiple-Target Fencing Control and Collision Avoidance -- Coordinated Multiple-Scattered-Targets Fencing via Flexible Subgrouping and Ordering -- Bearing-Only Fencing via Persistent-Exciting Condition -- Summary and Future Work.

Multi-robot coordinated fencing, where a team of robots forms a protective formation around a target, has garnered significant attention and proven useful in practical applications such as area convoying. However, real-world scenarios often involve complex target characteristics, including varying dynamics and multiple targets, which can pose challenges in maintaining the formation. Additionally, due to sensor costs and environmental constraints, robots may only have access to directional constraint information, presenting further challenges. This book highlights cooperative fencing approaches for multi-robot systems and their practical applications to different unmanned surface (ground) vehicles, providing an overview of research trends and future directions in coordinated fencing. Firstly, a basic fencing controller using neighboring angle repulsion for a constant-velocity target is designed, laying the groundwork for complex fencing missions. Then, for more complex fencing with an evenly rotating formation, a distributed controller is developed using input-to-state stability, achieving coordinated fencing under intermittently varying topologies. For more complex varying-velocity targets, a distributed fencing controller based on output regulation theory is proposed. For general target fencing missions in both 2D and 3D, a formal long-term task execution framework is developed using control barrier functions. Moreover, unlike previous methods that rely on the relative position between the robot and the target, a distributed bearing-only fencing control algorithm based on the persistent-excitation condition is developed, requiring only comparatively inexpensive sensors. Finally, this exploration into the theory and application of coordinated fencing control provides guidelines for robust, efficient, and complex practical implementations of multi-robot missions.

ISBN: 9789819792146$q(electronic bk.)

Standard No.: 10.1007/978-981-97-9214-6doiSubjects--Topical Terms:

484868
Multiagent systems.

LC Class. No.: QA76.76.I58 / .H8 2025

Dewey Class. No.: 006.30285436

Multi-robot systemscoordinated fencing control and applications /
LDR:03528nmm a22003375a 4500 001 692692
003 DE-He213
005 20251202152302.0
006 m d
007 cr nn 008maaau
008 260622s2025 si s 0 eng d
020 $a 9789819792146$q(electronic bk.)
020 $a 9789819792139$q(paper)
024 7 $a 10.1007/978-981-97-9214-6 $2 doi
035 $a 978-981-97-9214-6
040 $a GP $c GP
041 0 $a eng
050 4 $a QA76.76.I58 $b .H8 2025
072 7 $a UYQ $2 bicssc
072 7 $a COM004000 $2 bisacsh
072 7 $a UYQ $2 thema
082 0 4 $a 006.30285436 $2 23
090 $a QA76.76.I58 $b .H874 2025
100 1 $a Hu, Bin-Bin. $3 1009151
245 1 0 $a Multi-robot systems $h [electronic resource] : $b coordinated fencing control and applications / $c by Bin-Bin Hu, Hai-Tao Zhang.
260 $a Singapore : $b Springer Nature Singapore : $b Imprint: Springer, $c 2025.
300 $a xiv, 200 p. : $b ill., digital ; $c 24 cm.
490 1 $a Cognitive intelligence and robotics, $x 2520-1964
505 0 $a Introduction to Coordinated Multi-Robot Fencing Control -- Distributed Fencing Control via Neighboring Angle Repulsion -- Distributed Fencing Control Via Input-To-State Stability -- Distributed Fencing Control via Ouput Regulation Theory -- Distributed Fencing Control via Long-Term Task Execution -- Coordinated Multiple-Target Fencing Control and Collision Avoidance -- Coordinated Multiple-Scattered-Targets Fencing via Flexible Subgrouping and Ordering -- Bearing-Only Fencing via Persistent-Exciting Condition -- Summary and Future Work.
520 $a Multi-robot coordinated fencing, where a team of robots forms a protective formation around a target, has garnered significant attention and proven useful in practical applications such as area convoying. However, real-world scenarios often involve complex target characteristics, including varying dynamics and multiple targets, which can pose challenges in maintaining the formation. Additionally, due to sensor costs and environmental constraints, robots may only have access to directional constraint information, presenting further challenges. This book highlights cooperative fencing approaches for multi-robot systems and their practical applications to different unmanned surface (ground) vehicles, providing an overview of research trends and future directions in coordinated fencing. Firstly, a basic fencing controller using neighboring angle repulsion for a constant-velocity target is designed, laying the groundwork for complex fencing missions. Then, for more complex fencing with an evenly rotating formation, a distributed controller is developed using input-to-state stability, achieving coordinated fencing under intermittently varying topologies. For more complex varying-velocity targets, a distributed fencing controller based on output regulation theory is proposed. For general target fencing missions in both 2D and 3D, a formal long-term task execution framework is developed using control barrier functions. Moreover, unlike previous methods that rely on the relative position between the robot and the target, a distributed bearing-only fencing control algorithm based on the persistent-excitation condition is developed, requiring only comparatively inexpensive sensors. Finally, this exploration into the theory and application of coordinated fencing control provides guidelines for robust, efficient, and complex practical implementations of multi-robot missions.
650 0 $a Multiagent systems. $3 484868
650 0 $a Robotics. $3 181952
650 1 4 $a Multiagent Systems. $3 848000
650 2 4 $a Theory and Algorithms for Application Domains. $3 921479
700 1 $a Zhang, Hai-Tao. $3 1009152
710 2 $a SpringerLink (Online service) $3 273601
773 0 $t Springer Nature eBook
830 0 $a Cognitive intelligence and robotics. $3 820707
856 4 0 $u https://doi.org/10.1007/978-981-97-9214-6
950 $a Artificial Intelligence (R0) (SpringerNature-85269)