• International Journal of Control, Automation, and Systems
• /
• v.6 no.3
• /
• pp.401-412
• /
• 2008

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

• Journal of Communications and Networks
• /
• v.10 no.2
• /
• pp.204-212
• /
• 2008

We study the routing problem in all-wireless networks based on cooperative transmissions. We model the minimum-energy cooperative path (MECP) problem and prove that this problem is NP-complete. We hence design an approximation algorithm called cooperative shortest path (CSP) algorithm that uses Dijkstra's algorithm as the basic building block and utilizes cooperative transmissions in the relaxation procedure. Compared with traditional non-cooperative shortest path algorithms, the CSP algorithm can achieve a higher energy saving and better balanced energy consumption among network nodes, especially when the network is in large scale. The nice features lead to a unique, scalable routing scheme that changes the high network density from the curse of congestion to the blessing of cooperative transmissions.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.556-559
• /
• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.43 no.1
• /
• pp.79-86
• /
• 2020

The effects of R&D investment on innovation such as patents and intangible assets, and the effect on the corporate performance such as revenue and profit growth, were analyzed using path analysis. In particular, this study compared and analyzed the performances of non-cooperative R&D and cooperative R&D. The results of this study are summarized as follows. First, R&D investment has a significant impact on innovation performance. This supports the existing research results. Second, patents have a significant impact on intangible asset growth. Third, in the case of corporate groups carrying out cooperative R&D, intangible asset growth forms a significant causal relationship with revenue growth. Fourth, in case of cooperative R&D, intangible asset growth has a significant mediating effect between patent and revenue growth. Like the existing research, the results of this research support the innovation performance of R&D investment. It also supports the existing argument that the results of cooperative R&D are more favorable to increase corporate value. However, unlike the existing research, we found a path leading to increased revenue through patents and intangible assets, and confirmed that such a path is likely to be achieved through cooperative R & D rather than internal R&D.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.49 no.5
• /
• pp.66-71
• /
• 2012

The capacity criteria have been proposed in order to select a cooperative relay node in WSNs, under the environment where direct path has a poor link gain. This process may ensure the efficiency improvement of signal transfer between source and destination and reduction of energy consumption as well. Two criteria are incorporated to select a cooperative relay node. Firstly, calculate the energy gain ratio between the relay path and the direct path. These are defined as the ratio between the energy factors of 1/g and 1/B. Each stands for an inverse of direct path gain and relay path gain. Secondly, investigate the effects of relay node's usage in WSNs through the simulation in terms of energy consumption. In conclusion, using a selected cooperative relay node based on the selected criteria is effective in terms of both energy efficiency and capacity of WSNs especially when direct path gain is relatively low.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.8 no.5
• /
• pp.113-119
• /
• 2008

Conventional 1-1-1 cooperative protocol offers path-loss gain as advantage of multi-hop and spatial diversity which is equivalent to MIMO system. This protocol is enable to get higher reliability and reduction of power consumption than those of the single-hop or multi-hop. But the 1-1-1 cooperative protocol get only the diversity order 2 and limited path-loss reduction gain because this protocol has a single cooperative relay. We propose 1-2-1 cooperative protocol using two cooperative relays R1, R2. The 1-2-1 cooperative protocol can improve path-loss reduction and increase diversity order 3. Moreover, the cooperative relay R2 attains diversity order 2. The signaling method in transmission uses DF (Decode and Forward) or DR (Decode and Reencode) and 1-2-1 DF/DR cooperative protocol are applied to clustering based wireless sensor networks (WSNs). Simulations are performed to evaluate the performance of the protocols under Rayleigh fading channel plus AWGN (Additive White Gaussian Noise).

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
• /
• pp.165-166
• /
• 2009

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.49 no.5
• /
• pp.72-76
• /
• 2012

In this paper, the capacity criteria have been proposed in order to select a cooperative relay node in WSNs, under the environment where direct path has a poor link gain. This process may ensure the efficiency improvement of signal transfer between source and destination and reduction of energy consumption as well. Two criteria are incorporated to select a cooperative relay node. Firstly, calculate the energy gain ratio between the relay path and the direct path. Secondly, investigate the effects of relay node's usage in WSNs through the simulation in terms of energy consumption. In the simulation, the relationship between energy consumption and direct path gain, uniformly generated in the certain range and its positive effects have been identified.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.9
• /
• pp.891-897
• /
• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• Journal of Communications and Networks
• /
• v.10 no.2
• /
• pp.156-162
• /
• 2008

Cooperative relays can provide spatial diversity and improve performance of wireless communications. In this paper, we study subcarrier power allocation at the relays for orthogonal frequency division multiplexing (OFDM)-based wireless systems. For cooperative relay with amplify-and-forward (AF) and decode-and-forward (DF) algorithms, we investigate the impact of power allocation to the mutual information between the source and destination. From our simulation results on word~error-rate (WER) performance, we find that the DF algorithm with power allocation provides better performance than that of AF algorithm in a single path relay network because the former is able to eliminate channel noise at each relay. For the multiple path relay network, however, the network structure is already resistant to noise and channel distortion, and AF approach is a more attractive choice due to its lower complexity.