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Bio-inspired self-organized cooperative control consensus for crowded UUV swarm based on adaptive dynamic interaction topology.

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Title: Bio-inspired self-organized cooperative control consensus for crowded UUV swarm based on adaptive dynamic interaction topology.
Authors: Liang, Hongtao1 (AUTHOR) lianghongtao.789@163.com, Fu, Yanfang2 (AUTHOR), Gao, Jie1 (AUTHOR)
Source: Applied Intelligence. Jul2021, Vol. 51 Issue 7, p4664-4681. 18p.
Subjects: Remote submersibles, Adaptive computing systems, Distributed algorithms, Cooperative societies, Topology
Abstract: Cooperative control is currently a challenging topic of crowded unmanned underwater vehicle (UUV) swarm. However, individual behavior conflict and chain-avalanche collision involved in this swarm are easily triggered due to the fluctuations and disturbances. In order to address the two problems, a bio-inspired self-organized cooperative control consensus derived from adaptive dynamic interaction topology is investigated in this paper. Firstly, a novel following-interaction framework incorporating the topological interaction and visual interaction is devised to ensure the minimum number and optimal distribution for neighborhoods. Then, an adaptive dynamic computing model inspired by single-nearest-neighbor following and weighted- multiple-nearest-neighbors following is proposed to steer a sensitive following behavior, in which the influence of each individual on this following behavior is described by a nonlinear weight. Finally, a distributed control protocol is put forward by using the proposed following model and mathematics-based potential fields to achieve the cohesive flocking and avoiding collision, and its sufficient conditions is proven by Laypunov and LaSalle invariance principle to accomplish a self- organized cooperative control. Simulation results are presented for illustrating the feasibility and effectiveness of our proposed control approach. [ABSTRACT FROM AUTHOR]
Copyright of Applied Intelligence is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Bio-inspired self-organized cooperative control consensus for crowded UUV swarm based on adaptive dynamic interaction topology.
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  Data: <searchLink fieldCode="AR" term="%22Liang%2C+Hongtao%22">Liang, Hongtao</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> lianghongtao.789@163.com</i><br /><searchLink fieldCode="AR" term="%22Fu%2C+Yanfang%22">Fu, Yanfang</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Gao%2C+Jie%22">Gao, Jie</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Applied+Intelligence%22">Applied Intelligence</searchLink>. Jul2021, Vol. 51 Issue 7, p4664-4681. 18p.
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  Data: <searchLink fieldCode="DE" term="%22Remote+submersibles%22">Remote submersibles</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+computing+systems%22">Adaptive computing systems</searchLink><br /><searchLink fieldCode="DE" term="%22Distributed+algorithms%22">Distributed algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Cooperative+societies%22">Cooperative societies</searchLink><br /><searchLink fieldCode="DE" term="%22Topology%22">Topology</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: Cooperative control is currently a challenging topic of crowded unmanned underwater vehicle (UUV) swarm. However, individual behavior conflict and chain-avalanche collision involved in this swarm are easily triggered due to the fluctuations and disturbances. In order to address the two problems, a bio-inspired self-organized cooperative control consensus derived from adaptive dynamic interaction topology is investigated in this paper. Firstly, a novel following-interaction framework incorporating the topological interaction and visual interaction is devised to ensure the minimum number and optimal distribution for neighborhoods. Then, an adaptive dynamic computing model inspired by single-nearest-neighbor following and weighted- multiple-nearest-neighbors following is proposed to steer a sensitive following behavior, in which the influence of each individual on this following behavior is described by a nonlinear weight. Finally, a distributed control protocol is put forward by using the proposed following model and mathematics-based potential fields to achieve the cohesive flocking and avoiding collision, and its sufficient conditions is proven by Laypunov and LaSalle invariance principle to accomplish a self- organized cooperative control. Simulation results are presented for illustrating the feasibility and effectiveness of our proposed control approach. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
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  Group: Ab
  Data: <i>Copyright of Applied Intelligence is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1007/s10489-020-02104-5
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      – Code: eng
        Text: English
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        PageCount: 18
        StartPage: 4664
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      – SubjectFull: Remote submersibles
        Type: general
      – SubjectFull: Adaptive computing systems
        Type: general
      – SubjectFull: Distributed algorithms
        Type: general
      – SubjectFull: Cooperative societies
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      – SubjectFull: Topology
        Type: general
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      – TitleFull: Bio-inspired self-organized cooperative control consensus for crowded UUV swarm based on adaptive dynamic interaction topology.
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            NameFull: Liang, Hongtao
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            NameFull: Fu, Yanfang
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            NameFull: Gao, Jie
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            – D: 01
              M: 07
              Text: Jul2021
              Type: published
              Y: 2021
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            – TitleFull: Applied Intelligence
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