A mobile robot network is said to be easily scalable to any number of robots if its performance is kept almost fixed after these robots are added or some fail in the network. An interaction dynamics model based on mot...A mobile robot network is said to be easily scalable to any number of robots if its performance is kept almost fixed after these robots are added or some fail in the network. An interaction dynamics model based on motion synchronization is first established. Considering the mobility of mobile robot networks, we propose a relay switched, distributed topology control for the scalable network to drive neMy added robots to the most suitable positions with more neighbors as well as self-heal the blank positions of failed robots, and give a metric of the topology structure for evaluating the performance of network topologies. Then, we prove the stability of motion synchronization with the individual control based on Lyapunov exponent. Finally, the results of simulations have demonstrated the validity of the proposed modeling and control methods.展开更多
A regime-switching geometric Brownian motion is used to model a geometric Brownian motion with its coefficients changing randomly according to a Markov chain.In this work, the author gives a complete characterization ...A regime-switching geometric Brownian motion is used to model a geometric Brownian motion with its coefficients changing randomly according to a Markov chain.In this work, the author gives a complete characterization of the recurrent property of this process. The long time behavior of this process such as its p-th moment is also studied. Moreover, the quantitative properties of the regime-switching geometric Brownian motion with two-state switching are investigated to show the difference between geometric Brownian motion with switching and without switching. At last, some estimates of its first passage probability are established.展开更多
基金Supported by the National High Technology Research and Development Programme of China ( No. 2006AA040203 )the National Natural Science Foundation of China (No. 60775062)the Program for New Century Excellent Talents in University (No. NCET-07-0538).
文摘A mobile robot network is said to be easily scalable to any number of robots if its performance is kept almost fixed after these robots are added or some fail in the network. An interaction dynamics model based on motion synchronization is first established. Considering the mobility of mobile robot networks, we propose a relay switched, distributed topology control for the scalable network to drive neMy added robots to the most suitable positions with more neighbors as well as self-heal the blank positions of failed robots, and give a metric of the topology structure for evaluating the performance of network topologies. Then, we prove the stability of motion synchronization with the individual control based on Lyapunov exponent. Finally, the results of simulations have demonstrated the validity of the proposed modeling and control methods.
基金supported by the National Natural Science Foundation of China(Nos.11301030,11431014)
文摘A regime-switching geometric Brownian motion is used to model a geometric Brownian motion with its coefficients changing randomly according to a Markov chain.In this work, the author gives a complete characterization of the recurrent property of this process. The long time behavior of this process such as its p-th moment is also studied. Moreover, the quantitative properties of the regime-switching geometric Brownian motion with two-state switching are investigated to show the difference between geometric Brownian motion with switching and without switching. At last, some estimates of its first passage probability are established.
