This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired traje...This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.展开更多
为刻画病人就医等待时间的时空规律,以心脏病手术为例,基于多Agent建模技术,搭建心脏病手术服务系统MA-CSS(Multi-Agent Cardiac Surgery Service)模型。该模型重点关注病人就医距离、医疗资源丰富程度、医院和病人个体行为等多种因素...为刻画病人就医等待时间的时空规律,以心脏病手术为例,基于多Agent建模技术,搭建心脏病手术服务系统MA-CSS(Multi-Agent Cardiac Surgery Service)模型。该模型重点关注病人就医距离、医疗资源丰富程度、医院和病人个体行为等多种因素对等待时间动态性的交互影响。基于MA-CSS模型的仿真实验较好地复现真实心脏病手术等待时间的时空规律,同时揭示病人择医行为、医院服务能力调整行为和等待时间之间的交互是自组织形成等待时间时空模式的可能原因。展开更多
文摘This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.
文摘为刻画病人就医等待时间的时空规律,以心脏病手术为例,基于多Agent建模技术,搭建心脏病手术服务系统MA-CSS(Multi-Agent Cardiac Surgery Service)模型。该模型重点关注病人就医距离、医疗资源丰富程度、医院和病人个体行为等多种因素对等待时间动态性的交互影响。基于MA-CSS模型的仿真实验较好地复现真实心脏病手术等待时间的时空规律,同时揭示病人择医行为、医院服务能力调整行为和等待时间之间的交互是自组织形成等待时间时空模式的可能原因。
