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Role Assignment in Multi-Agent Coordination
Meng Ji,Shun-ichi Azuma,Magnus Egerstedt 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2006 International Journal of Assistive Robotics and Me Vol.7 No.1
In this paper we study the problem of parameterized assignment. This problem arises when a team of mobile robots has to decide what role to take on in a given planar formation by controlling the rotation and translation of the formation. A suite of suboptimal, but computationally tractable (polynomial time) algorithms are presented, based on a solution to the problem of finding the optimal translation and rotation given a fixed assignment. Numerical examples verify the viability of the proposed, suboptimal solutions.
Dynamic Quantizers for SIMO Control Systems with Unstable Zeros
Yuki Minami,Shun-ichi Azuma,Toshiharu Sugie 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we present multirate sampling type dynamic quantizers for linear control systems with discrete-valued signal constraints. Although our previous works have derived an optimal dynamic quantizer and verified its effec-tiveness by simulations and experiments, the result can not be applied to SIMO plants with unstable zeros. This paper over comes the draw back by using a multirate sampling technique. We first for mulate an optimal design problem for a class of multirate sampling type dynamic quantizers, and then we give a closed form solution to the problem.
Mohd Ashraf Ahmad,Shun-ichi Azuma,Toshiharu Sugie 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper performs an initial study on identification of continuous-time Hammerstein models based on Simultaneous Perturbation Stochastic Approximation (SPSA). While the structure information such as the system order is available for the linear subsystems, the structure of nonlinear subsystem is assumed to be completely unknown. For handling it, a piecewise-linear functions are used as a tool to approximate the unknown nonlinear functions. The SPSA based method is then used to estimate the parameters in both the linear and nonlinear parts based on the given input and output data. A numerical example is given to illustrate that the SPSA based algorithm can give an accurate parameter estimation of the Hammerstein models with high probability through detailed simulation.
Performance Measure of Hierarchical Structures for Multi-agent Systems
Ali Raza,Muhammad Iqbal,Jun Moon,Shun-Ichi Azuma 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.3
This paper investigates the robustness of linear consensus networks which are designed under a hierarchical scheme based on Cartesian product. For robustness analysis, consensus networks are subjected to additive white Gaussian noise. To quantify the robustness of the network, we use H2-norm: the square root of the expected value of the steady state dispersion of network states. We compare several classes of undirected and directed graph topologies. We show that the hierarchical structures, designed under the Cartesian product-based hierarchy, outperform the single-layer structures in terms of robustness. We provide simulations to support the analytical results presented in this paper.