Formation control with connectivity assurance for missile swarm: a natural co-evolutionary strategy approach
Formation control problem is one of the most concerned topics within the realm of swarm intelligence, which is usually solved by conventional mathematical approaches. In this paper, however, we presents a metaheuristic approach that leverages a natural co-evolutionary strategy to solve the formation control problem for a swarm of missiles. The missile swarm is modeled by a second-order system with heterogeneous reference target, and exponential error function is made to be the objective function such that the swarm converge to optimal equilibrium states satisfying certain formation requirements. Focusing on the issue of local optimum and unstable evolution, we incorporate a novel model-based policy constraint and a population adaptation strategies that greatly alleviates the performance degradation. With application of the Molloy-Reed criterion in the field of network communication, we developed an adaptive topology method that assure the connectivity under node failure and its effectiveness are validated both theoretically and experimentally. Experimental results valid the effectiveness of the proposed formation control approach. More significantly, we showed that it is feasible to treat generic formation control problem as Markov Decision Process(MDP) and solve it through iterative learning.
Code (0)
등록된 구현이 없습니다.
Tasks
validSimilar Papers 제목 키워드 기반
Connectivity-Preserving Swarm Teleoperation Over A Tree Network With Time-Varying Delays
A teleoperated swarm must follow the unpredictable commands of its human operator while remaining connected. When the swarm communications are limited by distance and affected by delays, both the user input and the trans…
AERoS: Assurance of Emergent Behaviour in Autonomous Robotic Swarms
The behaviours of a swarm are not explicitly engineered. Instead, they are an emergent consequence of the interactions of individual agents with each other and their environment. This emergent functionality poses a chall…
Shepherding Control for Separating a Single Agent from a Swarm
In this paper, we consider the swarm-control problem of spatially separating a specified target agent within the swarm from all the other agents, while maintaining the connectivity among the other agents. We specifically…
Robust control for uncertain air-to-air missile systems
Air-to-air missiles are used on many modern military combat aircraft for self-defence. It is imperative for the pilots using the weapons that the missiles hit their target first time. The important goals for a missile co…
Energy-Optimal Control of a Submarine-Launched Cruise Missile
A typical mission profile of submarine-launched cruise missiles begins with the launch phase which covers the motion of the missile from the launch to the water-exit and continues with the boost phase which lasts from th…