In this study, the consensus problem for a class of second-order multi-agent systems with nonuniform time delays is investigated. A linear consensus protocol is used to make all agents reach consensus and move with a ...In this study, the consensus problem for a class of second-order multi-agent systems with nonuniform time delays is investigated. A linear consensus protocol is used to make all agents reach consensus and move with a constant velocity. By a frequency-domain analysis, a simplified sufficient condition is given to guarantee the consensus stability of the dynamic system. Finally, the effectiveness of the obtained theoretical results is illustrated through numerical simulations.展开更多
A decentralized information feedback mechanism was introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. While various distributed cooperative control strateg...A decentralized information feedback mechanism was introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. While various distributed cooperative control strategies have been studied in theory,few of them have been systematically validated on experimental platforms. This paper demonstrates the experimental results of consensus-based decentralized information feedback mechanism on a multiple mobile robotic fish platform. In this paper, we firstly introduced a fundamental consensus algorithm for systems model and the cooperative control experimental platform,and then experimentally implemented and validated the formation control algorithm through setting transit point and lookup table method and so on. The experimental results show the effectiveness of the consensus-based decentralized information feedback control strategies.展开更多
The public key of the integer homomorphic encryption scheme which was proposed by Van Dijk et al. is long, so the scheme is almost impossible to use in practice. By studying the scheme and Coron’s public key compress...The public key of the integer homomorphic encryption scheme which was proposed by Van Dijk et al. is long, so the scheme is almost impossible to use in practice. By studying the scheme and Coron’s public key compression technique, a scheme which is able to encrypt n bits plaintext once was obtained. The scheme improved the efficiency of the decrypting party and increased the number of encrypting parties, so it meets the needs of cloud computing better. The security of the scheme is based on the approximate GCD problem and the sparse-subset sum problem.展开更多
基金Project supported by the National Basic Research Program of China (Grant No. 2012CB215203)the Key Program of the National Natural Science Foundation of China (Grant No. 51036002)the Fundamental Research Funds for the Central Universities of China (Grant No. JB2012008)
文摘In this study, the consensus problem for a class of second-order multi-agent systems with nonuniform time delays is investigated. A linear consensus protocol is used to make all agents reach consensus and move with a constant velocity. By a frequency-domain analysis, a simplified sufficient condition is given to guarantee the consensus stability of the dynamic system. Finally, the effectiveness of the obtained theoretical results is illustrated through numerical simulations.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61174096)
文摘A decentralized information feedback mechanism was introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. While various distributed cooperative control strategies have been studied in theory,few of them have been systematically validated on experimental platforms. This paper demonstrates the experimental results of consensus-based decentralized information feedback mechanism on a multiple mobile robotic fish platform. In this paper, we firstly introduced a fundamental consensus algorithm for systems model and the cooperative control experimental platform,and then experimentally implemented and validated the formation control algorithm through setting transit point and lookup table method and so on. The experimental results show the effectiveness of the consensus-based decentralized information feedback control strategies.
文摘The public key of the integer homomorphic encryption scheme which was proposed by Van Dijk et al. is long, so the scheme is almost impossible to use in practice. By studying the scheme and Coron’s public key compression technique, a scheme which is able to encrypt n bits plaintext once was obtained. The scheme improved the efficiency of the decrypting party and increased the number of encrypting parties, so it meets the needs of cloud computing better. The security of the scheme is based on the approximate GCD problem and the sparse-subset sum problem.
