|
Preliminary Results on Ultra-Wideband Range Measurements Model Considering a Directional Bias based on Spherical Harmonics for Drone Swarm |
|
Taekyun Kim, Dongjun Lee(Seoul National University, Korea) |
| The proposed measurement model includes four terms: 1) the distance between UWB sensors; 2) the bias term induced by the direction of UWB ray; 3) the offset term caused by small manufacturing differences; and 4) additive white Gaussian noise. The bias term is determined by the coefficients of real spherical harmonics.
To prevent overfitting, we formulate the calibration for our measurement model as a regularized least squares problem. The regularized term in the optimization cost is derived by the Laplace-Beltrami operator.
The calibration results show a reduction of approximately 30% in RMSE when including directional bias, compared to when only including the offset term. |
|
|
Multiplex PID consensus for single integrator agents |
|
YoungHun Lim(Gyeongsang National University, Korea) |
| In this paper, we propose a multiplex proportional-integral-differential(PID) algorithm to achieve a leaderfollowing consensus of multi-agent systems, where the agents are modeled by a single integrator with input saturation and disturbances. The P, I, and D controllers are designed to be composed of different networks. Then, we investigate the conditions of communication graphs and control gains to achieve the consensus, and show that the communication graph of I controller only needs to be connected. Finally, we conduct simulations to reveal the effectiveness of the proposed algorithm. |
|
|
Quantization-Aware Encrypted Consensus Protocol for Second-Order Multi-Agent Systems |
|
Hung Manh Nguyen, Hyo-Sung Ahn(GIST, Korea) |
| Most consensus algorithms depend on agents sharing the direct state information with their neighbors to
reach a common agreement. However, this approach raises a serious issue of exposing private state information, which is
undesirable in scenarios where privacy is important. This paper introduces a novel encrypted consensus protocol designed
for second-order multi-agent systems employing Learning With Error (LWE)-based encryption. In contrast to previous
studies, which assumed negligible quantization errors resulted from the encryption-decryption process, we investigate the
impact of the quantization process on the consensusability of the multi-agent system |
|
|
Tilted Circumnavigation of Multiple Drones Around Multiple Targets |
|
Mirzobek Malikov, Vladimir Shin, Yoonsoo Kim(Gyeongsang National University, Korea) |
| This paper proposes a new approach for coordinating a group of drones to follow a moving circular path while maintaining a specified distance between them. Unlike existing methods, which track an ellipse around multiple targets, the proposed approach defines a tilted circle in the air, whose projection becomes the enclosing ellipse on the ground. This allows drones to track the circle at a constant velocity while adjusting their altitude, avoiding collisions with each other. A vector-field guidance law followed by an integral sliding-mode control is designed to ensure that drones meet three conditions under bounded disturbances. |
|