Formation control for second-order multi-agent systems with time-varying delays under directed topology

In this paper, we investigate a formation control problem for second-order multi-agent systems with directed graph interconnection topologies that contain time-varying coupling delays. By using a special multiple leaders’ framework, sufficient conditions are obtained for both time-invariant and time-varying formations as well as for time-varying formations for trajectory tracking, which guarantees the attainment of the formations is at exponentially converging speeds. Some numerical simulations are also conducted to validate the theoretical results.     

Coalition formation of oligopolistic firms for information exchange

This paper investigates the coalition formation of oligopolistic firms for exchanges of information about their cost functions in a game-theoretical framework. An oligopolistic market under uncertainty is considered in which each firm knows its own cost function but not those of all the others. The following results are shown. It is profitable for each firm to exchange the information about cost functions with other firms. When the uncertainty levels of the cost functions of all firms are symmetric. it is common interest for them to exchange their information by forming the grand coalition. On the other hand, when their uncertainty levels are highly asymmetric, firms possessing less uncertain cost functions come into conflict with one another when exchanging information exclusively with the most uncertain firms. As a result, more than one coalition may be formed among firms.     

Motion synchronization in unmanned aircrafts formation control with communication delays

This paper proposes a formation control strategy for unmanned aircrafts using a virtual structure. Cross coupled sliding mode controllers are introduced to cope with uncertainties in the attitude measurement systems of the unmanned aircrafts and unmeasurable bounded external disturbances such as wind effects, and also to provide motion synchronization in the multi-agent system. This motion synchronization strategy improves the agents convergence to their desired positions, and this is useful for a multi-agent system with faulty agents.Moreover, the proposed motion synchronization strategy is not restricted to specific communication topologies, and sufficient conditions are provided to guarantee the multi-agent system stability in the presence of communication delays. Numerical simulations are presented for a team of five unmanned aircrafts to make a pentagon formation and confirm the accepted performance of the proposed control strategy.     

Decentralized and dynamic group formation of reconfigurable agents

Adaptive group formation in dynamic environments performed by heterogeneous swarms of simple agents is an interesting research topic. In this paper we consider an unsupervised scenario where the individuals of the swarm have limited information about their environment as well as limited communication capabilities. The particular case of a multi-agent model with self-organized reconfigurable agents where the agents are confronted with a resource collection task, different movement, and group formation tactics are analyzed experimentally. It is shown that cooperation in groups is profitable for the group members and the optimal group size depends on environmental parameters. Moreover, a simple strategy based on the agents ability to measure their own workload results in an adaptive behavior that influences the size of the groups and increases the performance of the overall system.     

COALITIONS IN INTERNATIONAL FISHERIES MANAGEMENT

Abstract We show that with symmetric agents, noncooperation is the only stable coalition structure in a fishery with more than two countries. In the case of asymmetric fishing nations, partial or full cooperation may be stable even if the number of countries exceeds two. These are important results for recent fisheries economics papers that have not allowed for coalition formation. As an example how of one can use the model, we study the problem of new entrants into Regional Fisheries Management Organizations (RFMOs). We show that depending on the economic structure of the fishery, new entrants may make cooperation more difficult or easier.     

Resonant vibrations in harmonically excited weakly coupled mechanical systems with cyclic symmetry

The resonant vibrations in weakly coupled nonlinear cyclic symmetric structures are studied. These structures consist of weakly coupled identical nonlinear oscillators. A careful bifurcation analysis of the amplitude equations is performed in the fundamental resonance case for an illustrative example consisting of a three particle system. In case of a uniformly distributed excitation, a localized response is identified in which one of the particles exhibits large amplitude motions compared to those of the other particles. In case of single-particle excitation, it is found that for very small coupling strength and large external mistuning, a large stable localized periodic response coexists with an extended small response. With an increase in the coupling strength, multiple extended solutions arise near the exact external resonance via saddle-node bifurcations. Further increase in coupling strength and a decrease in damping results in isolated asymmetric solution branches, which bifurcate from the symmetric solutions via symmetry-breaking bifurcations. The role of coupling strength in creating/destroying localized solutions is discussed.     

Lyapunov-Razumikhin定理应用于多自主体系统的编队问题

在群集中编队是很普遍的.研究了没有"leader"的群集编队问题.考虑输入端带有扰动和时滞.所考察的多智主体系统具有固定和切换拓扑两种情况.应用Lyapunov-Razumikhin定理到输入有时滞影响的编队问题中.解决了输入端有时滞和扰动以及主体是单"integrators"情形的编队问题.     

A theoretical analysis of formation flight as a nonlinear self-organizing phenomenon

This study analyses the existence, stability and self-organizationof formation flight utilized by migrant birds. Air is approximatedas an incompressible inviscid flow, while birds are modelledas elliptically loaded lifting-lines. Application of conventionalwing theory leads to newly derived, basic equations that describethe problem as a dynamical system of multiple wings interactingwith each other through induced flow field. Formation flightis defined as the steady-state solution of the basic equations,in particular the solution that all the birds fly at the samespeed. In the case of a prescribed thrust, constant transverseinterval between adjacent birds, and a flock of physically identicalbirds, analytical study of the basic equations reveals the factsthat (1) formation flight is self-organized and (2) this formationflight is stable. The new implication is that a configurationof formation emerges as a result of nonlinear dynamical interactionbetween many birds and that this nonlinear dynamical systemdoes not exhibit chaotic behaviour. Numerical calculation hasalso been done for cormorant-type birds with the same transverseinterval between flock members. The proposed numerical schemequickly converges to very accurate results owing to the recentlyderived, closed-form expression of induced velocity distributionaround an elliptically loaded lifting-line. Transverse intervalsbetween birds are found to be a more important factor than thenumber of birds. Configurations of formations are found to beinverted U rather than inverted V. In these formations everybird enjoys the same amount of drag reduction.     

Learning agents for the multi-mode project scheduling problem

Intelligent optimization refers to the promising technique of integrating learning mechanisms into (meta-)heuristic search. In this paper, we use multi-agent reinforcement learning for building high-quality solutions for the multi-mode resource-constrained project scheduling problem (MRCPSP). We use a network of distributed reinforcement learning agents that cooperate to jointly learn a well-performing constructive heuristic. Each agent, being responsible for one activity, uses two simple learning devices, called learning automata, that learn to select a successor activity order and a mode, respectively. By coupling the reward signals for both learning tasks, we can clearly show the advantage of using reinforcement learning in search. We present some comparative results, to show that our method can compete with the best performing algorithms for the MRCPSP, yet using only simple learning schemes without the burden of complex fine-tuning.     

Hybrid consensus for multi-agent systems with time-driven jumps

In this paper, the behavior of scalar multi-agent systems over networks subject to time-driven jumps. Assuming that all agents communicate through distinct communication digraphs at jump and flow times, the asymptotic multi-consensus behavior of the hybrid network is explicitly characterized. The hybrid multi-consensus is shown to be associated with a suitable partition that is almost equitable for both the jump and flow communication digraphs. In doing so, no assumption on the underlying digraphs is introduced. Finally, the coupling rules making the multi-consensus subspace attractive are established. Several simulation examples illustrate the theoretical results.     

Route planning for agent-based information retrieval

This article focuses on Mobile Agents and their use for information retrieval. A multi-agent system is considered; a number of agents are involved in a collective effort to retrieve distributed data from network nodes. Increasing the number of agents may speed-up information retrieval but is burdensome to performance. Initiating with a given number of agents, our objective is to determine the routes of the agents so that the task completion time is minimized. Two known and one new polynomial-time algorithms are tested that produce near-optimal solutions. Simulation results show the cases for which each one is most effective. Additionally, we study the influence of various parameters on the solution. By parametrically varying the number of agents, our method can be used to determine the minimum number that satisfies the desired trade-off between time and performance.     

Consensus of heterogeneous multi-agent systems with linear and nonlinear dynamics

In this paper, we perform an in-depth study about the consensus problem of heterogeneous multi-agent systems with linear and nonlinear dynamics.Specifically, this system is composed of two classes of agents respectively described by linear and nonlinear dynamics. By the aid of the adaptive method and Lyapunov stability theory, the mean consensus problem is realized in the framework of first-order case and second-order case under undirected and connected networks.Still, an meaningful example is provided to verify the effectiveness of the gained theoretical results. Our study is expected to establish a more realistic model and provide a better understanding of consensus problem in the multi-agent system.     

First integrals and families of symmetric periodic motions of a reversible mechanical system

A reversible mechanical system which allows of first integrals is studied. It is established that, for symmetric motions, the constants of the asymmetric integrals are equal to zero. The form of the integrals of a reversible linear periodic system corresponding to zero characteristic exponents and the structure of the corresponding Jordan Boxes are investigated. A theorem on the non-existence of an additional first integral and a theorem on the structural stabilities of having a symmetric periodic motion (SPM) are proved for a system with m symmetric and k asymmetric integrals. The dependence of the period of a SPM on the constants of the integrals is investigated. Results of the oscillations of a quasilinear system in degenerate cases are presented. Degeneracy and the principal resonance: bifurcation with the disappearance of the SPM and the birth of two asymmetric cycles, are investigated. A heavy rigid body with a single fixed point is studied as the application of the results obtained. The Euler-Poisson equations are used. In the general case, the energy integral and the geometric integral are symmetric while the angular momentum integral turns out to be asymmetric. In the special case, when the centre of gravity of the body lies in the principal plane of the ellipsoid of inertia, all three classical integrals become symmetric. It is ascertained here that any SPM of a body contains four zero characteristic exponents, of which two are simple and two form a Jordan Box. In typical situation, the remaining two characteristic exponents are not equal to zero. All of the above enables one to speak of an SPM belonging to a two-parameter family and the absence of an additional first integral. It is established that a body also executes a pendulum motion in the case when the centre of gravity is close to the principal plane of the ellipsoid of inertia.     

有向网络下多个体系统的整体行为

研究非时变有向通讯网络背景下一阶线性多个体动力学系统的整体行为.根据通讯网络的结构,系统可以区分为独立基本子系统和非独立基本子系统.当系统的控制规则为一类平凡的线性类型时,系统的独立基本子系统将趋于自身的一致状态,也即子系统中的每个个体趋于子系统的带权中心.独立基本子系统带权中心由子系统的系数矩阵的零特征根归一化左特征向量确定.非独立子系统中个体将趋于独立基本子系统带权中心的凸集内.当且仅当系统的独立基本子系统唯一时,系统实现一致性行为.     

一类双面碰撞振子的对称性尖点分岔与混沌

讨论了一类单自由度双面碰撞振子的对称型周期n-2运动以及非对称型周期n-2运动．把映射不动点的分岔理论运用到该模型,并通过分析对称系统的Poincaré映射的对称性,证明了对称型周期运动只能发生音叉分岔．数值模拟表明:对称系统的对称型周期n-2运动,首先由一条对称周期轨道通过音叉分岔形成具有相同稳定性的两条反对称的周期轨道;随着参数的持续变化,两条反对称的周期轨道经历两个同步的周期倍化序列各自生成一个反对称的混沌吸引子．如果对称系统演变为非对称系统,非对称型周期n-2运动的分岔过程可用一个两参数开折的尖点分岔描述,音叉分岔将会演变为一支没有分岔的分支以及另外一个鞍结分岔的分支．     

Principal–agent problem for returns handling in a reverse supply chain with one manufacturer and two competing dealers

Focusing on the principal–agent problem in handling new-products returned by customers in a reverse supply chain with one manufacturer and two competing dealers, we investigate how a manufacturer motivates her dealers to exert their efforts to handle and sell the returned new-products using mathematical modelling. By taking into consideration the dealers’ individual rationalities, we design optimal incentive contracts under both symmetric and asymmetric information and obtain the following insights. In the symmetric information situation, dealers’ effort levels are identical to those maximising the expected overall profit of the supply chain. In the asymmetric information situation, however, the dealers’ effort levels are lower than the supply chain optimum. Further, in the case of intensifying competition between the dealers, their effort levels increase, while each dealer’ revenue share received from the manufacturer decreases and the risk, incentive and total agency costs of the entire supply chain tend to diminish. The revenue share is inversely correlated with return uncertainties. When we introduce another random environmental factor affecting returns into the incentive contract, this revenue share increases with a rise in dealers’ effort levels, while the above-mentioned costs of the entire system decline and this improves the supply chain system coordination. The incorporation of fairness into the principal–agent model promotes a further increase in the dealers’ effort levels, which is proved using the fixed-point theorem. Finally, we provide an example to demonstrate the main results.     

Consensus seeking in multi-agent systems via hybrid protocols with impulse delays

This paper studies the consensus problem of multi-agent systems with both fixed and switching topologies. A hybrid consensus protocol is proposed to take into consideration of continuous-time communications among agents and delayed instant information exchanges on a sequence of discrete times. Based on the proposed algorithms, the multi-agent systems with the hybrid consensus protocols are described in the form of impulsive systems or impulsive switching systems. By employing results from matrix theory and algebraic graph theory, some sufficient conditions for the consensus of multi-agent systems with fixed and switching topologies are established, respectively. Our results show that, for small impulse delays, the hybrid consensus protocols can solve the consensus problem if the union of continuous-time and impulsive-time interaction digraphs contains a spanning tree frequently enough. Simulations are provided to demonstrate the effectiveness of the proposed consensus protocols.     

Solitary wave solutions for a coupled pair of mKdV equations

Propagation of weakly nonlinear long waves is studied within the framework of a system of two coupled modified Korteweg-de Vries equations. We investigate analytically and numerically the various families of soliton states for the considered model. By scaling the functions and variables we find that the resulting coupled pair of equations has only one combined parameter. This parameter depends on the wave speed and the coupling coefficient. Explicit analytical expressions for both of the symmetric and antisymmetric states are determined. Numerical method is derived to solve the proposed system, many numerical tests have been conducted to study the behavior of the solution, and the existence of the asymmetric soliton states is displayed numerically.     

A hybrid model for opinion formation

This paper presents a hybrid model for opinion formation in a large group of agents exposed to the persuasive action of a small number of strong opinion leaders. The model is defined by coupling a finite difference equation for the dynamics of leaders opinion with a continuous integro-differential equation for the dynamics of the others. Such a definition stems from the idea that the leaders are few and tend to retain original opinions, so that their dynamics occur on a longer time scale with respect to the one of the other agents. A general well-posedness result is established for the initial value problem linked to the model. The asymptotic behavior in time of the related solution is characterized for some general parameter settings, which mimic distinct social scenarios, where different emerging behaviors can be observed. Analytical results are illustrated and extended through numerical simulations.     

Maximum norms of random sums and transient pattern formation

Many interesting and complicated patterns in the applied sciences are formed through transient pattern formation processes. In this paper we concentrate on the phenomenon of spinodal decomposition in metal alloys as described by the Cahn-Hilliard equation. This model depends on a small parameter, and one is generally interested in establishing sharp lower bounds on the amplitudes of the patterns as the parameter approaches zero. Recent results on spinodal decomposition have produced such lower bounds. Unfortunately, for higher-dimensional base domains these bounds are orders of magnitude smaller than what one would expect from simulations and experiments. The bounds exhibit a dependence on the dimension of the domain, which from a theoretical point of view seemed unavoidable, but which could not be observed in practice.

In this paper we resolve this apparent paradox. By employing probabilistic methods, we can improve the lower bounds for certain domains and remove the dimension dependence. We thereby obtain optimal results which close the gap between analytical methods and numerical observations, and provide more insight into the nature of the decomposition process. We also indicate how our results can be adapted to other situations.