• Journal of IKEEE
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• v.18 no.4
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• pp.517-522
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• 2014

This paper investigates the consensus problem for linear multi-agent systems with an arbitrary network delay. The sufficient conditions for a state consensus of linear multi-agent systems are provided by using linear matrix inequalities. Moreover, it is shown that under the proposed protocol, the consensus can be achieved even in the presence of an arbitrarily large network delay. Finally, an illustrative example is given in order to show the effectiveness of our design method.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.428-430
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• 2001

다수의 자율이동로봇으로 구성되는 다개체 시스템에서의 협조행동을 위해서 각 개체는 주변환경의 인식뿐만 아니라 환경변화에 적응할 수 있는 추론능력이 요구된다. 이에 본 논문에서는 강화학습을 이용하여 동적으로 변화하는 환경 하에서 개체들이 스스로 학습하고 대처할 수 있는 협조행동 방법을 제시한다. 제안한 방법을 먹이와 포식자 문제에 적용하여 포식자 로봇간의 협조행동을 구현하였다. 여러 대로 구성된 포식자 로봇은 회피가 목적인 먹이로봇을 추적하여 포획하는 것이 임무이며 포식자 로봇들 간의 협조행동을 위해 각 상태에 따른 최적의 행동방식을 찾는데 강화학습을 이용한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.4
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• pp.308-315
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• 2016

This paper addresses a formation control problem for a phugoid model-based multi-agent system in discrete time by using a Takagi-Sugeno (T-S) fuzzy model-based controller design technique. The concerned discrete-time model is obtained by Euler's method. A T-S fuzzy model is constructed through a feedback linearization. A fuzzy controller is then designed to stabilize the T-S fuzzy model. Design condition is presented in the linear matrix inequality format.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.42-47
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• 2015

This paper presents a rank-based formation for multiple agents based on potential functions, where the proposed method uses the relative position of two neighboring agents. The conventional formation scheme of multiple systems requires communication between agents and a central computer to get the positions of all multiple agents. In the study, differently from previous studies, the formation scheme uses the relative position of two neighboring agents in a local coordinate system. In addition, it introduces a singular agent association that considers only the relative position between an agent and its neighboring agents, instead of multiple associations among all information about all agents. Furthermore, the proposed framework explores the benefits of different formation types. Extensive simulation results show that the proposed approach verifies the viability and effectiveness of the proposed formation.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.5
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• pp.725-731
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• 2013

In This paper, through simulation, proposes a system which makes it possible for freely moving multiple agents with ultrasonic receivers to estimate their own position by themselves using the ultrasonic signals sequentially emitted from multiple ultrasonic transmitters. This system possesses an advantage that there is no limit in the number of agents existing in the space covered by more than three transmitters fixed at proper locations. Hence, the proposed system can be utilized effectively in position tracking control of multiple robotic agents system and motion capturing system.

• Journal of IKEEE
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• v.22 no.1
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• pp.121-126
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• 2018

This paper addresses the consensus problem for nonlinear multi-agent systems using observer based controller. In order to solve this problem, the high gain approach is combined with the previous low gain controller. Also, it is shown that the proposed observer based controller can always guarantee the consensus of nonlinear systems with lower triangular nonlinearity.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1513-1514
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• 2008

다 개체 동종 시스템의 분산 편대 추종 제어는 최근 몇 년간 많은 연구가 이루어져 왔다. 이러한 관심은 군사 분야, 모발 센서 네트워크, 지능형 교통 시스템과 같은 흥미롭고 새로운 응용 사례가 대두됨에 따라 집중되었다. 분산 편대 제어는 여러 가지 이론과 방법으로 연구되어 왔는데 대부분의 경우 여러 동종 시스템의 상호 연결성을 토대로 라플라스 인접 행렬의 성질로 설명하고 있다. 이러한 접근법은 합의 문제와 동기화 문제와도 관계가 있는데 이 경우 편대 제어의 경우와 유사한 방식으로 안정도를 설명하며 설계 고려 사항을 도출한다. 본 논문에서, 우리는 분산된 방법으로 여러 대의 동종 비선형 시스템을 다루며 이 시스템들은 시간에 대해 부드럽게 변하는 상대 기준 위치에 따라 편대를 이룰 수 있고 또한 전체 그룹은 모든 방향으로 자유롭게 움직이는 것이 가능하다. 우리의 주요 목표는 위와 같은 편대 추종 제어의 안정도를 해석하고 제어기를 설계하는 것이다.

• Journal of the Korean Society for information Management
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• v.27 no.4
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• pp.219-237
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• 2010

This study proposes a 'Bibliographic Universe Relationship Vocabulary'(burv) using the RDF/OWL Object Property under the SPO predicate logic according to the relationship type among all entities of bibliographic universe and implemented a 'relationship ontology system' to establish a new cataloging business domain called 'Relationship Description Cataloging' based on the ontology.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.295-296
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• 2013

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.154-154
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• 2000

The cooperative strategy for the teleoperated multi-agent system is presented. And this scheme has been applied to the teleoperated robot soccer system that is newly proposed. For the teleoperated robot soccer system, we made mapping functions to control a 2-wheeled mobile robot using a 2 DoF stickcontroller. The simulation with a real stickcontroller has been evaluated the performance of the proposed mapping function. Then, the basic cooperation strategy has been tested between teleoperated robot and autonomous robot It is shown that the multi-agent system for teleoperation can have a good performance for a job Like a scoring a goal