Cooperative control of multi-agent systems with limited angular field of view
Bibliographic record
Abstract
This paper is concerned with the problems of consensus and containment in a network of directed single-integrator agents with some practical constraints in sensing other agents. Limitations in field of view (FOV), which are considered in this work, are very common in vision-based sensing/communication devices (such as cameras or directed antennas). The set of neighbors for each agent depends on its angular position, which varies by time. This poses new challenges to the cooperative control of agents, where it is desired to achieve objectives such as consensus and containment. The problem is formulated in the context of impulsive switched systems, and a controller is proposed with a switching law which ensures the connectivity of the network at all times, except for some limited time instants. A controller is subsequently designed to achieve consensus using the concept of Laplacian-based control. Finally, two subgroups of agents are defined as static leaders and moving followers, and the controller is modified properly to achieve containment in this case asymptotically.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".