The consensus problem of a linear discrete-time multi- agent system with directed communication topologies was investigated. A protocol was designed to solve consensus with an improved convergence speed achieved by de...The consensus problem of a linear discrete-time multi- agent system with directed communication topologies was investigated. A protocol was designed to solve consensus with an improved convergence speed achieved by designing protocol gains. The clo6ed-loop multi.agent system converged to an expected type of consensus function, which was divided into four types： zero, non- zero constant vector, bounded trajectories, and ramp trajectories. An algorithm was further provided to construct the protocol gains, which were determined in terms of a classical pole placement algorithm and a modified algebraic Riccati equation. Finally, an example to illustrate the effectiveness of theoretical results was presented.展开更多
The problem of task assignment for multiple cooperating unmanned aerial vehicle(UAV) teams is considered. Multiple UAVs forming several small teams are needed to perform attack tasks on a set of predetermined ground t...The problem of task assignment for multiple cooperating unmanned aerial vehicle(UAV) teams is considered. Multiple UAVs forming several small teams are needed to perform attack tasks on a set of predetermined ground targets. A hierarchical task assignment method is presented to address the problem. It breaks the original problem down to three levels of sub-problems: target clustering, cluster allocation and target assignment. The first two sub-problems are centrally solved by using clustering algorithms and integer linear programming, respectively, and the third sub-problem is solved in a distributed and parallel manner, using a mixed integer linear programming model and an improved ant colony algorithm. The proposed hierarchical method can reduce the computational complexity of the task assignment problem considerably, especially when the number of tasks or the number of UAVs is large. Experimental results show that this method is feasible and more efficient than non-hierarchical methods.展开更多
We propose a new counterfactual quantum cryptography protocol concerning about distributing a deterministic key.By adding a controlled blocking operation module to the original protocol [T.G.Noh,Phys.Rev.Lett.103(2009...We propose a new counterfactual quantum cryptography protocol concerning about distributing a deterministic key.By adding a controlled blocking operation module to the original protocol [T.G.Noh,Phys.Rev.Lett.103(2009) 230501],the correlation between the polarizations of the two parties,Alice and Bob,is extended,therefore,one can distribute both deterministic keys and random ones using our protocol.We have also given a simple proof of the security of our protocol using the technique we ever applied to the original protocol.Most importantly,our analysis produces a bound tighter than the existing ones.展开更多
基金Natural Science Foundation of Shandong Province,China(No.ZR2010FZ001)
文摘The consensus problem of a linear discrete-time multi- agent system with directed communication topologies was investigated. A protocol was designed to solve consensus with an improved convergence speed achieved by designing protocol gains. The clo6ed-loop multi.agent system converged to an expected type of consensus function, which was divided into four types： zero, non- zero constant vector, bounded trajectories, and ramp trajectories. An algorithm was further provided to construct the protocol gains, which were determined in terms of a classical pole placement algorithm and a modified algebraic Riccati equation. Finally, an example to illustrate the effectiveness of theoretical results was presented.
基金supported by the National Natural Science Foundation of China(7147205871401048)the Fundamental Research Funds for the Central Universities(2012HGZY0009)
文摘The problem of task assignment for multiple cooperating unmanned aerial vehicle(UAV) teams is considered. Multiple UAVs forming several small teams are needed to perform attack tasks on a set of predetermined ground targets. A hierarchical task assignment method is presented to address the problem. It breaks the original problem down to three levels of sub-problems: target clustering, cluster allocation and target assignment. The first two sub-problems are centrally solved by using clustering algorithms and integer linear programming, respectively, and the third sub-problem is solved in a distributed and parallel manner, using a mixed integer linear programming model and an improved ant colony algorithm. The proposed hierarchical method can reduce the computational complexity of the task assignment problem considerably, especially when the number of tasks or the number of UAVs is large. Experimental results show that this method is feasible and more efficient than non-hierarchical methods.
基金Supported by the National Natural Science Foundation of China under Grant No. 60872052
文摘We propose a new counterfactual quantum cryptography protocol concerning about distributing a deterministic key.By adding a controlled blocking operation module to the original protocol [T.G.Noh,Phys.Rev.Lett.103(2009) 230501],the correlation between the polarizations of the two parties,Alice and Bob,is extended,therefore,one can distribute both deterministic keys and random ones using our protocol.We have also given a simple proof of the security of our protocol using the technique we ever applied to the original protocol.Most importantly,our analysis produces a bound tighter than the existing ones.
