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Generation of minimally persistent circle formation for a multi-agent system 总被引:1,自引:0,他引:1 下载免费PDF全文
In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader's interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n - 3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods. 相似文献
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每年高考数学试题公布之后,总要拿过来认真去研究一下.拿过2008年高考试题,使我眼前一亮的是:2008年全国理科卷Ⅰ第22题与我们在二轮复习时讲过的一道题如出一辙,当时的感觉就是兴奋,总觉得自己的教学水平好象提升了一大截, 相似文献
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题目 (2009年高考全国卷Ⅰ理第22题)设函数fx=x3+3bx2+3cx有两个极值点x1,x2,且x1∈[-1,0],x2∈[1,2]. 相似文献
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2009年高考数学重庆卷文、理第12题都是以焦点三角形为背景的求离心率取值范围的姊妹题,两题从命题形式到解题方法到命题背景以及资源的再利用都值得探讨.…… 相似文献
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文[1]戴老师的一篇<老树发新芽>对2009年重庆高考试题第9题进行了分析说明,并受考题的启示进行了变式,读后便产生了兴趣,经过几番思考之后,感觉这道考题是有问题的,当然文[1]的变式也受到很大影响.…… 相似文献
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翻阅2011年高考数学湖北卷理科试题,发现填空题第15题,试题表述简洁,题型设计新颖,图文并茂,背景浓厚,命题者给考生留下开阔的解题空间,不免引起了我们研究的兴趣. 相似文献
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证明了在一定条件下, 不等式
$|\lambda_1p_1^2+\lambda_2p_2^2+\lambda_3p_3^2+\lambda_4p_4^2+\mu_12^{m_1}+\cdots+\mu_s2^{m_s}+\varpi|<\eta$关
于素数$p_1, p_2, p_3, p_4$
和正整数$m_1, \cdots, m_s$有无穷多解, 改进了之前的结果. 相似文献
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