Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.

Generation of minimally persistent circle formation for a multi-agent system

In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader＇s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n - 3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods.

Multi-target pursuit formation of multi-agent systems

The main goal of this paper is to design a team of agents that can accomplish multi-target pursuit formation using a developed leader-follower strategy. It is supposed that every target can accept a certain number of agents. First, each agent can automatically choose its target based on the distance from the agent to the target and the number of agents accepted by the target. In view of the fact that all agents are randomly dispersed in the workplace at the initial time, we present a numbering strategy for them. During the movement of agents, not every agent can always obtain pertinent state information about the targets. So, a developed leader-follower strategy and a pursuit formation algorithm are proposed. Under the proposed method, agents with the same target can maintain a circle formation. Furthermore, it turns out that the pursuit formation algorithm for agents to the desired formation is convergent. Simulation studies are provided to illustrate the effectiveness of the proposed method.

Equilibrium configurations of the tethered three-body formation system and their nonlinear dynamics

This paper considers nonlinear dynamics of teth- ered three-body formation system with their centre of mass staying on a circular orbit around the Earth, and applies the theory of space manifold dynamics to deal with the nonlinear dynamical behaviors of the equilibrium configurations of the system. Compared with the classical circular restricted three body system, sixteen equilibrium configurations are obtained globally from the geometry of pseudo-potential energy sur- face, four of which were omitted in the previous research. The periodic Lyapunov orbits and their invariant manifolds near the hyperbolic equilibria are presented, and an iteration procedure for identifying Lyapunov orbit is proposed based on the differential correction algorithm. The non-transversal intersections between invariant manifolds are addressed to generate homoclinic and heteroclinic trajectories between the Lyapunov orbits. （3,3）- and （2,1）-heteroclinic trajecto- ries from the neighborhood of one collinear equilibrium to that of another one, and （3,6）- and （2,1）-homoclinic trajecto- ries from and to the neighborhood of the same equilibrium, are obtained based on the Poincar6 mapping technique.

Calculation of the Heat of Formation:Ternary Alloy System

A semi-empirical calculation of the heat of formation was applied to ternary system: La-Fe-Al,Fe-Ni-V and Cu-Pd-Si.The calculated values were compared with the experimental ones and the coincidence was satisfactory.This method is helpful to predict the stabilities of ternary compounds and solid solubility.

Depositional System of the Carboniferous Huanglong Formation,Eastern Sichuan Basin:Constraints from Sedimentology and Geochemistry

Using analyses of the lithology,sequences,paleoenvironment,and tectonic setting,the depositional system of the Carboniferous Huanglong Formation in the eastern Sichuan Basin was identified.The lithological characteristics of the Lower Member,Middle Member,and Upper Member were analyzed and classified.Before the use of carbon,oxygen,and strontium isotopes in the analysis,all of the geochemical data were tested for validity.On the basis of the Z values obtained from carbon and oxygen isotopes,the paleoenvironments of the three members were elucidated.Lower Member was dominantly an enclosed marine environment with intense evaporation and little freshwater input into the sea.Middle Member developed in a semi-enclosed to normal marine environment with many rivers.Upper Member was formed in a normal marine environment.The east Sichuan Basin was enclosed by paleouplifts before the deposition of the Huanglong Formation,forming a relatively enclosed depositional setting.Paleogullies developed in the Silurian strata that underlie the Carboniferous rocks;these paleogullies can be identified.On the basis of a comprehensive analysis,we propose that the Huanglong Formation developed in a platform system.Four microfacies were identified：supratidal flat,dolostone flat,grain shoal,and shelf microfacies.The high-permeability and high-porosity characteristics of the grain shoal microfacies are favorable for hydrocarbon accumulation,while the supratidal flat and shelf microfacies developed very few high-quality reservoirs.The paleogullies,in which increased amounts of grain shoal microfacies developed,controlled the distribution of high-quality reservoirs.

Isotopic Geochemistry of Evaporite-Carbonate Sediments in Majiagou Formation Euxinic Systems with Implications for Evaluating Ordovician Northern Shaanxi Epicontinental Sea, Ordos Basin

Objective The Ordovician Shaanxi salt basin is located in the junction of the North China Sea and the Qilian Sea.ln this basin the Majiagou Formation accumulated more than 1000m thick evaporite-carbonate sediments, and this basin is divided into east and west saltern sags （ESS, WSS） according to the characteristics of geochemical analysis （Zhang Yongsheng et al., 2014）. Isotope stratigraphy of evaporite sediments represents a fundamental tool in palaeoenvironmental and palaeoclimate reconstruction. This work first illustrates the stable isotope geochemistry of the Shaanxi evaporites, which represents the most significant example of detailed facies stratigraphy for the Majiagou Formation evaporite-carbonate （M5） in Ordos epicontinental sea （Liu Jingdong et al.,

Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint

In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to control the optimal persistent formations in two-dimensional space, thereby establishing a model for their constrained generation. Then, we propose an algorithm for generating the optimal persistent formation for heterogeneous multi-agent systems with a leader constraint （LC-HMAS-OPFGA）, which is the exact solution algorithm of the model, and we theoretically prove its validity. This algorithm includes two kernel sub-algorithms, which are optimal persistent graph generating algorithm based on a minimum cost arborescence and the shortest path （MCA-SP-OPGGA）, and the optimal persistent graph adjusting algorithm based on the shortest path （SP-OPGAA）. Under a given agent formation shape and leader constraint, LC-HMAS-OPFGA first generates the network topology and its optimal rigid graph corresponding to this formation shape. Then, LC-HMAS- OPFGA uses MCA-SP-OPGGA to direct the optimal rigid graph to generate the optimal persistent graph. Finally, LC- HMAS-OPFGA uses SP-OPGAA to adjust the optimal persistent graph until it satisfies the leader constraint. We also demonstrate the algorithm, LC-HMAS-OPFGA, with an example and verify its effectiveness.

The Formation Control of Multi-agent Systems on a Circle

This paper investigates the formation control of a class of multi-agent systems moving on a circle, whose topology is a cyclic graph, and presents several new results for the following two cases: Case I, the agents with single-integrator kinematics,and Case II, the agents with double-integrator kinematics. Firstly,for Case I, two control protocols are proposed under which the multiagent systems keep a uniformly-spaced formation. Secondly,we study Case II, and a control protocol is designed for this case, then the stability of the formation is proved. Finally, three simulations are studied by using our presented results. The study of illustrative examples with simulations shows that our results as well as designed control protocols work very well in studying the formation control of this class of multi-agent systems.

Distance-based formation tracking control of multi-agent systems with double-integrator dynamics

This paper addresses the distance-based formation tracking problem for a double-integrator modeled multi-agent system（MAS） in the presence of a moving leader in d-dimensional space. Under the assumption that the state of leader can be obtained over fixed graphs, a distributed distance-based control protocol is designed for each double-integrator follower agent. The protocol consists of three terms： a gradient function term, a velocity consensus term, and a leader tracking term.Different shape stabilizing functions proposed in the literature can be applied to the gradient function term. The proposed controller allows all agents to both achieve the desired shape and reach the same velocity with moving leader by controlling the distances and velocity. Finally, we analyze the local asymptotic stability of the equilibrium set with center manifold theory. We validate the effectiveness of our approach through two examples.

Provenance System Analysis of the Nantun Formation of the Huhehu Sag in Hailar Basin

Huhehu Sag is a new battlefield for the future oil and gas exploration in the Hailar Basin. At present, exploration of this area stays at a low level and the understanding of the provenance system of the Nantun Formation is comparatively weak. So, to carry out the detailed depiction of the provenance system in the study area is significant for the sedimentary system reconstruction, for the prediction of reservoir distribution and favorable areas. Based on comprehensive analysis of paleogeomorphy, light-heavy mineral and seismic reflection features, sandstone thickness and sandstone percentage, this paper analyzes in detail the provenance system of the Nantun Formation in Huhehu Sag from various angles and levels. It shows that provenances of the Huhehu Sag mainly originated from the eastern Xilinbeier Salient and western Bayan Mountain Uplift. The provenances surrounding the lake basin converged to the center of the basin, among which, the steep slope belt and the gentle slope belt are the main provenances, and the southern uplift is a secondary one. The distribution framework of the provenance fundamentally determines the distribution rules of the depositional system and its sand body developing during the Nantun period.

Enthalpies of formation of compounds in Al-Ni-Y system

The enthalpies of formation of the ternary compounds Al 4NiY, Al 2NiY, Al 2Ni 6Y 3, Al 16 Ni 3Y, AlNiY, Al 3Ni 2Y, AlNi 8Y 3, Al 7Ni 3Y 2, and of the binary compounds Al 2Y containing nickel and Ni 5Y containing aluminum have been determined by high temperature reaction calorimetry. The enthalpy values measured are compared to previously published results where available as well as extended Miedema model predictions. The melting points of the compounds were determined by DTA and X ray diffraction was used to confirm the crystal structures of the compounds. The enthalpies of formation of the ternary compounds show a maximum along the 50%Al (mole fraction) section. The ternary compounds appear along lines of constant yttrium content consistent with binary compound solubility extensions.

Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties

This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange among the agents. The control method is exercised via sliding mode methodology where each agent is subjected to uncertainties. The technique of nonlinear disturbance observer is adopted in order to overcome the adverse effects of the uncertainties. Assuming that the uncertainties have an unknown bound, the formation stability conditions are investigated according to a given communication topology. In the sense of Lyapunov, not only the formation maneuvers of the multi-agent system have guaranteed stability, but the desired formations of the agents are also realized. Compared with other two control approaches, i.e., the basic sliding mode approach and the fuzzy sliding mode approach, some numerical results are presented to illustrate the effectiveness, performance and validity of the robust control method for formation maneuvers in the presence of uncertainties.

Study on the Tidal Wave System and Formation Mechanism of M_2 Tide in the Taiwan Strait

To study the Taiwan Strait （TS）, an unusual sea area, the numerical model in marginal seas of China is used to simulate and analyze the tidal wave motion in the strait. The numerical modeling experiments reproduce the amphidromic system of the M2 tide in the south end of the Taiwan strait, and consequently confirm the existence of the degenerate amphidromic system. On this basis, further discussion is conducted on the M2 system and its formation mechanism. It can be concluded that the tidal waves of the TS is consisted of the progressing wave from the north entrance and the degenerate amphidromic system from the south entrance, in which the progressing wave from the north entrance dominates the tidal wave motion in the strait. Except for the convergent effect caused by the landform and boundary, the degenerate amphidromic system produced in the south of the strait is another important factor for the following phenomena： the large tidal range in the middle of the strait, the concentrative zone of co-amplitude and co-phase line in the south of the strait. The degenerate amphidromic system is mainly produced by the incident Pacific Ocean tidal wave from the Luzon strait and the action by the shoreline and landform. The position of the amphidromic point is compelled to move toward southwest until degenerating by the powerful progressing wave from the north entrance.

Time-varying formation for general linear multi-agent systems via distributed event-triggered control under switching topologies

This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event times.The interaction topology among agents is assumed to be switching.The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem.Moreover,the Zeno behavior of triggering time sequences can be excluded for each agent.Finally,a simulation example is presented to illustrate the effectiveness of the theoretical results.

Attitude Coordination of Multi-HUG Formation Based on Multibody System Theory

Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field （APF） approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.

FREE ENERGIES OF FORMATION FOR ELECTROCHEMICALLOY ALLOYED Y-Cu SYSTEM

The electrochemical alloying of Y-Cu system in molten NaCl-KCl-YCl_3 has been investi- gated.The free energy changes of the formation reactions of the intermetallic compounds,in- cluding YCu_6 ,YCu_4 YCu_2 ,Yfu(973—103 K),were determined by means of electrode potential-time curves of the working electrode after potentiostatic electrolysis.The results in- dicate that the potential-time method is simple and reliable.

GPS/VISNAV integrated relative navigation and attitude determination system for ultra-close spacecraft formation flying

For the improvement of accuracy and better fault-tolerant performance, a global position system （GPS）/vision navigation （VISNAV） integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance.

The study of formulation and performance of formate drilling and completion fluid system

Formate drilling and completion fluid system is a new type of clean organic salt brine system which has been developed from inorganic salt brine drilling fluid system. It is beneficial to protecte and find hydrocarbon reservoir. Due to the solid free system, the damage of solid phase particles on reservoir, especially low permeability oil and gas layer, can be greatly eliminated, at the same time, drilling fluid and completion fluid have greater compatibility. It will avoid that precipitation which is not compatible with drilling and completion fluid and generates damages on reservoir. And because mud cake of the solid free system is thin and resilient, it is conductive to improve cementing quality greatly. Experiments show that the formate drilling and completion system has good rheological property, strong inhibition ability, good lubricating performance, good compatibility with reservoir rocks and formation water at high temperature.

Developing a Geological Management Information System: National Important Mining Zone Database

Geo-data is a foundation for the prediction and assessment of ore resources, so managing and making full use of those data, including geography database, geology database, mineral deposits database, aeromagnetics database, gravity database, geochemistry database and remote sensing database, is very significant. We developed national important mining zone database （NIMZDB） to manage 14 national important mining zone databases to support a new round prediction of ore deposit. We found that attention should be paid to the following issues： ① data accuracy： integrity, logic consistency, attribute, spatial and time accuracy; ② management of both attribute and spatial data in the same system;③ transforming data between MapGIS and ArcGIS; ④ data sharing and security; ⑤ data searches that can query both attribute and spatial data. Accuracy of input data is guaranteed and the search, analysis and translation of data between MapGIS and ArcGIS has been made convenient via the development of a checking data module and a managing data module based on MapGIS and ArcGIS. Using AreSDE, we based data sharing on a client/server system, and attribute and spatial data are also managed in the same system.