{"title":"具有避障和安全距离保护功能的多代理植群：基于模糊势能的方法","authors":"Ali Ebrahimi, Mohammad Farrokhi","doi":"10.1007/s11370-023-00500-7","DOIUrl":null,"url":null,"abstract":"<p>In this paper, a control method is proposed for the flocking of multi-agent systems in the presence of obstacles. One of the main contributions of this work is the introduction of a safety distance parameter that ensures agents do not enter this safety distance during the flocking process. To achieve this, a fuzzy logic-based gradient of the potential function is designed. Furthermore, it is demonstrated that no consensus term is necessary in the control signal when all agents are informed about the desired path. Additionally, stability analysis is conducted for the proposed algorithm in free space, which allows the extraction of the ultimate bound of the tracking error. Finally, the effectiveness of the proposed algorithm is demonstrated through simulations conducted in free space, space with obstacles, and in the presence of measurement noise. The results obtained from these simulations are compared with the existing methods in the literature.</p>","PeriodicalId":48599,"journal":{"name":"Journal of Integrative Medicine-Jim","volume":null,"pages":null},"PeriodicalIF":4.2000,"publicationDate":"2024-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Multi-agent flocking with obstacle avoidance and safety distance preservation: a fuzzy potential-based approach\",\"authors\":\"Ali Ebrahimi, Mohammad Farrokhi\",\"doi\":\"10.1007/s11370-023-00500-7\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>In this paper, a control method is proposed for the flocking of multi-agent systems in the presence of obstacles. One of the main contributions of this work is the introduction of a safety distance parameter that ensures agents do not enter this safety distance during the flocking process. To achieve this, a fuzzy logic-based gradient of the potential function is designed. Furthermore, it is demonstrated that no consensus term is necessary in the control signal when all agents are informed about the desired path. Additionally, stability analysis is conducted for the proposed algorithm in free space, which allows the extraction of the ultimate bound of the tracking error. Finally, the effectiveness of the proposed algorithm is demonstrated through simulations conducted in free space, space with obstacles, and in the presence of measurement noise. The results obtained from these simulations are compared with the existing methods in the literature.</p>\",\"PeriodicalId\":48599,\"journal\":{\"name\":\"Journal of Integrative Medicine-Jim\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.2000,\"publicationDate\":\"2024-01-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Integrative Medicine-Jim\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1007/s11370-023-00500-7\",\"RegionNum\":2,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"INTEGRATIVE & COMPLEMENTARY MEDICINE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Integrative Medicine-Jim","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1007/s11370-023-00500-7","RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"INTEGRATIVE & COMPLEMENTARY MEDICINE","Score":null,"Total":0}
Multi-agent flocking with obstacle avoidance and safety distance preservation: a fuzzy potential-based approach
In this paper, a control method is proposed for the flocking of multi-agent systems in the presence of obstacles. One of the main contributions of this work is the introduction of a safety distance parameter that ensures agents do not enter this safety distance during the flocking process. To achieve this, a fuzzy logic-based gradient of the potential function is designed. Furthermore, it is demonstrated that no consensus term is necessary in the control signal when all agents are informed about the desired path. Additionally, stability analysis is conducted for the proposed algorithm in free space, which allows the extraction of the ultimate bound of the tracking error. Finally, the effectiveness of the proposed algorithm is demonstrated through simulations conducted in free space, space with obstacles, and in the presence of measurement noise. The results obtained from these simulations are compared with the existing methods in the literature.
期刊介绍：
The predecessor of JIM is the Journal of Chinese Integrative Medicine (Zhong Xi Yi Jie He Xue Bao). With this new, English-language publication, we are committed to make JIM an international platform for publishing high-quality papers on complementary and alternative medicine (CAM) and an open forum in which the different professions and international scholarly communities can exchange views, share research and their clinical experience, discuss CAM education, and confer about issues and problems in our various disciplines and in CAM as a whole in order to promote integrative medicine.
JIM is indexed/abstracted in: MEDLINE/PubMed, ScienceDirect, Emerging Sources Citation Index (ESCI), Scopus, Embase, Chemical Abstracts (CA), CAB Abstracts, EBSCO, WPRIM, JST China, Chinese Science Citation Database (CSCD), and China National Knowledge Infrastructure (CNKI).
JIM Editorial Office uses ThomsonReuters ScholarOne Manuscripts as submitting and review system (submission link: http://mc03.manuscriptcentral.com/jcim-en).
JIM is published bimonthly. Manuscripts submitted to JIM should be written in English. Article types include but are not limited to randomized controlled and pragmatic trials, translational and patient-centered effectiveness outcome studies, case series and reports, clinical trial protocols, preclinical and basic science studies, systematic reviews and meta-analyses, papers on methodology and CAM history or education, conference proceedings, editorials, commentaries, short communications, book reviews, and letters to the editor.
Our purpose is to publish a prestigious international journal for studies in integrative medicine. To achieve this aim, we seek to publish high-quality papers on any aspects of integrative medicine, such as acupuncture and traditional Chinese medicine, Ayurveda medicine, herbal medicine, homeopathy, nutrition, chiropractic, mind-body medicine, taichi, qigong, meditation, and any other modalities of CAM; our commitment to international scope ensures that research and progress from all regions of the world are widely covered. These ensure that articles published in JIM have the maximum exposure to the international scholarly community.
JIM can help its authors let their papers reach the widest possible range of readers, and let all those who share an interest in their research field be concerned with their study.
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