Flocking With Informed Agents Based on Incomplete Information
In this study, the problem of multi-agent flocking with partially informed agents is investigated, by considering the incomplete information factor in a flocking process. Incomplete information includes two aspects: receiver and sender. One is resisted or distorted information by the agents when the...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9857883/ |
| _version_ | 1817999484612771840 |
|---|---|
| author | Junhao Yuan Guanjie Jiang Xue-Bo Chen |
| author_facet | Junhao Yuan Guanjie Jiang Xue-Bo Chen |
| author_sort | Junhao Yuan |
| collection | DOAJ |
| description | In this study, the problem of multi-agent flocking with partially informed agents is investigated, by considering the incomplete information factor in a flocking process. Incomplete information includes two aspects: receiver and sender. One is resisted or distorted information by the agents when they receive information from the virtual leader or others, and the other is passive loss of information sent by the virtual leader or others to the agents. In a flocking process with a fraction of informed agents, to make informed agents drive more uninformed agents to track the virtual leader, we first discuss the derivative of the potential function in the flocking algorithm: the force function. The relationship between repulsion and attraction among agents is directly shown. Subsequently, an improved flocking algorithm is proposed based on Morse potential function. The stability of the algorithm is proved by using the Lyapunov stability theorem and LaSalle’s invariance principle. Consider the initial distribution of agents with low connectivity and density, based on the above modified algorithm, a novel method of selecting informed agents as propagandists is presented. Propagandists are created in the vicinity of virtual leaders. Before flocking, propagandists move regularly within an arbitrarily distributed group, disseminating information to other uninformed agents. This approach can reduce the unfavorable effects caused by incomplete information. Eventually, the simulation results show that even though only one informed agent is selected as the propagandist, most agents can track the common objective. |
| first_indexed | 2024-04-14T03:08:22Z |
| format | Article |
| id | doaj.art-82f57b8de6dd4b52b497b6aad842765a |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-14T03:08:22Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-82f57b8de6dd4b52b497b6aad842765a2022-12-22T02:15:39ZengIEEEIEEE Access2169-35362022-01-0110870698708210.1109/ACCESS.2022.31989689857883Flocking With Informed Agents Based on Incomplete InformationJunhao Yuan0https://orcid.org/0000-0002-0365-1082Guanjie Jiang1Xue-Bo Chen2https://orcid.org/0000-0001-6799-7667School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, ChinaSchool of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, ChinaSchool of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, ChinaIn this study, the problem of multi-agent flocking with partially informed agents is investigated, by considering the incomplete information factor in a flocking process. Incomplete information includes two aspects: receiver and sender. One is resisted or distorted information by the agents when they receive information from the virtual leader or others, and the other is passive loss of information sent by the virtual leader or others to the agents. In a flocking process with a fraction of informed agents, to make informed agents drive more uninformed agents to track the virtual leader, we first discuss the derivative of the potential function in the flocking algorithm: the force function. The relationship between repulsion and attraction among agents is directly shown. Subsequently, an improved flocking algorithm is proposed based on Morse potential function. The stability of the algorithm is proved by using the Lyapunov stability theorem and LaSalle’s invariance principle. Consider the initial distribution of agents with low connectivity and density, based on the above modified algorithm, a novel method of selecting informed agents as propagandists is presented. Propagandists are created in the vicinity of virtual leaders. Before flocking, propagandists move regularly within an arbitrarily distributed group, disseminating information to other uninformed agents. This approach can reduce the unfavorable effects caused by incomplete information. Eventually, the simulation results show that even though only one informed agent is selected as the propagandist, most agents can track the common objective.https://ieeexplore.ieee.org/document/9857883/Flockinginformed agentspotential functionincomplete informationpropagandist |
| spellingShingle | Junhao Yuan Guanjie Jiang Xue-Bo Chen Flocking With Informed Agents Based on Incomplete Information IEEE Access Flocking informed agents potential function incomplete information propagandist |
| title | Flocking With Informed Agents Based on Incomplete Information |
| title_full | Flocking With Informed Agents Based on Incomplete Information |
| title_fullStr | Flocking With Informed Agents Based on Incomplete Information |
| title_full_unstemmed | Flocking With Informed Agents Based on Incomplete Information |
| title_short | Flocking With Informed Agents Based on Incomplete Information |
| title_sort | flocking with informed agents based on incomplete information |
| topic | Flocking informed agents potential function incomplete information propagandist |
| url | https://ieeexplore.ieee.org/document/9857883/ |
| work_keys_str_mv | AT junhaoyuan flockingwithinformedagentsbasedonincompleteinformation AT guanjiejiang flockingwithinformedagentsbasedonincompleteinformation AT xuebochen flockingwithinformedagentsbasedonincompleteinformation |