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Bio-Inspired Decentralized Model Predictive Flocking Control for UAV Swarm Trajectory Tracking 认领 引用 被引量：1
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作者 Lanxiang Zheng Ruidong Mei +2 位作者 Mingxin Wei Zhijun Zhao Bingzhi Zou 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第5期2660-2677,共18页
Inspired by the collective behaviors observed in bird flocks and fish schools,this paper proposes a novel Decentralized Model Predictive Flocking Control(DMPFC)framework to enable UAV swarms to autonomously track pred... Inspired by the collective behaviors observed in bird flocks and fish schools,this paper proposes a novel Decentralized Model Predictive Flocking Control(DMPFC)framework to enable UAV swarms to autonomously track predefined reference trajectories while avoiding collisions and maintaining a stable quasi[Math Processing Error]-lattice formation.Unlike traditional approaches that rely on switching between predefined swarm formations,this framework utilizes identical local interaction rules for each UAV,allowing them to dynamically adjust their control inputs based on the motion states of neighboring UAVs,external environmental factors,and the desired reference trajectory,thereby enabling the swarm to adapt its formation dynamically.Through iterative state updates,the UAVs achieve consensus,allowing the swarm to follow the reference trajectory while self-organizing into a cohesive and stable group structure.To enhance computational efficiency,the framework integrates a closed-form solution for the optimization process,enabling real-time implementation even on computationally constrained micro-quadrotors.Theoretical analysis demonstrates that the proposed method ensures swarm consensus,maintains desired inter-agent distances,and stabilizes the swarm formation.Extensive simulations and real-world experiments validate the approach’s effectiveness and practicality,demonstrating that the proposed method achieves velocity consensus within approximately 200 ms and forms a stable quasi[Math Processing Error]-lattice structure nearly ten times faster than traditional models,with trajectory tracking errors on the order of millimeters.This underscores its potential for robust and efficient UAV swarm coordination in complex scenarios. 展开更多
关键词 Bio-inspired UAV swarm Decentralized model predictive flocking control Path tracking
Aligning and flocking of ellipsoidal Quincke rollers by flipping 认领 引用
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作者 Kai-Xuan He Qi-Ying Ni +3 位作者 Xiao-Yi Zhou Wen-De Tian Kang Chen Tian-Hui Zhang 《Chinese Physics B》 SCIE EI CAS CSCD 2025年第7期457-462,共6页
Active rods propelled along their long axis align their velocities and orientations simultaneously in collision.However,as the propulsion is perpendicular to the long axis,velocity alignment becomes dynamically diffic... Active rods propelled along their long axis align their velocities and orientations simultaneously in collision.However,as the propulsion is perpendicular to the long axis,velocity alignment becomes dynamically difficult.Here,we show that ellipsoidal Quincke roller propelled along their short-axis(perpendicular to the long axis)can align their velocities by flipping and form flocking with nematic order.The flipping arises from the reversible transition between the static parallel spinless state and the spinning transversal state of ellipsoidal Quincke rollers.This is possible only near(above)the critical field where both the parallel spinless state and the spinning transversal spinning are metastable.The flipping-facilitated alignment offers an extra aligning mechanism for elongate active agents,and the resulting active liquid crystals serve a model system to explore the defect dynamics as the propulsion deviates from the local nematic orientation which has not been addressed yet. 展开更多
关键词 Quincke roller flocking aligning flipping
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The effects of food abundance and disturbance on foraging flock patterns of the wintering Hooded Crane(Grus monacha) 认领 引用 被引量：13
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作者 Ling Yang Lizhi Zhou Yunwei Song 《Chinese Birds》 CSCD 2015年第3期178-185,共8页
Background:Food abundance and availability affect flock patterns of foraging birds.Cost and risk tradeoffs are especially critical for flocks of wintering waterbirds foraging in lake wetlands.Waterbirds losing suitabl... Background:Food abundance and availability affect flock patterns of foraging birds.Cost and risk tradeoffs are especially critical for flocks of wintering waterbirds foraging in lake wetlands.Waterbirds losing suitable habitats face insufficient food supplies and high levels of disturbance,affecting their foraging activities.Our objective was to study the effects of food abundance and disturbances on flock size and the structure of Hooded Crane flocks wintering at Shengjin Lake and,as well,to understand the response of wintering waterbirds to habitat degradation for future management decisions and protection of the population.Methods:We investigated food abundance,disturbances and flock foraging activities of the wintering Hooded Crane in several foraging habitats of Shengjin Lake from November 2013 to April 2014.Flock size and structure were observed by scan sampling.Data on food abundance and disturbances were collected by sampling.Flock size and structure were compared among three wintering stages.The relationship between food resources,disturbances and flock size were illustrated using a generalized linear model.Results:In the early and middle wintering periods,the Hooded Crane used paddy fields as its major foraging habitat,where the number of foraging birds and flocks were the highest.During the late period,the cranes took to meadows as their major foraging habitat.The variation among foraging flock was mainly embodied in the size of the flocks,while the age composition of these flocks did not change perceptibly.Family flocks were notably different from flock groups in size and age composition.The results of a generalized linear model showed that the food abundance had a marked effect on foraging flock size and age composition,while disturbances had a significant effect only on flock size.From our analysis,it appeared that the combined effect of the two variables was significant on the size of the foraging flock,but had less impact on age composition.Conclusions:Food abundance and disturbances affected the flock size of the Hooded Crane.With abundant food and high disturbances,flock sizes increased owing to cooperation in foraging.To avoid competition and maximize foraging benefits,flock size reduces with an abundance of food but low disturbance.By trading off risks and costs,the cranes showed flexible flock distributions and a variety of foraging strategies to maximize benefits and to improve their fitness. 展开更多
关键词 Flock pattern Food abundance Disturbance Hooded crane
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Hamilton框架下Flocking问题控制协议的设计 认领 引用 被引量：3
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作者 王强 王玉振 《山东大学学报（理学版）》 CAS CSCD 北大核心 2011年第7期70-77,共8页
针对Flocking控制协议的设计,本文给出了一些新的结果。首先,通过选择一类合适的Hamilton函数,为多智能体系统建立一个Hamilton结构。其次,基于上述得到的Hamilton结构,利用每个智能体的邻居信息设计两类Flocking控制协议,一个控制协议... 针对Flocking控制协议的设计,本文给出了一些新的结果。首先,通过选择一类合适的Hamilton函数,为多智能体系统建立一个Hamilton结构。其次,基于上述得到的Hamilton结构,利用每个智能体的邻居信息设计两类Flocking控制协议,一个控制协议具有线性队列结构,另一个具有非线性队列结构。研究表明:在这两类Flocking控制协议下,所有智能体的速度趋于一致,且智能体相互之间的距离保持恒定,即稳定的Flocking行为得到了保证。最后,通过仿真模拟验证了本文得到的结论。 展开更多
关键词 多智能体系统 Hamilton结构 Flocking控制协议 代数图论
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基于加权准邻域和多虚拟领航者的Flocking算法 认领 引用 被引量：1
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作者 王永磊 王良 +2 位作者 何强 尚朝轩 韩壮志 《海军工程大学学报》 CAS 北大核心 2013年第5期88-94,共7页
为解决Flocking模型中势函数没有考虑角度信息的问题,建立了基于加权准邻域势函数以及多虚拟领航的Flocking运动模型。首先,考虑运动的方向性,不同角度的邻居对智能体的影响不同,根据邻域角度信息设计基于加权势函数的控制器。然后,对... 为解决Flocking模型中势函数没有考虑角度信息的问题,建立了基于加权准邻域势函数以及多虚拟领航的Flocking运动模型。首先,考虑运动的方向性,不同角度的邻居对智能体的影响不同,根据邻域角度信息设计基于加权势函数的控制器。然后,对单虚拟领航者的群智能体运动和两组群智能体受各自领航者引导混杂后又分离的运动过程进行了仿真。最后,通过误差分析证明所建立的Flocking运动模型符合群智能体的运动规律。 展开更多
关键词 Flocking 角度权值 多虚拟领航者 势函数 准邻域
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Flocking behavior with multiple leaders and global trajectory 认领 引用 被引量：2
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作者 李猛 梁加红 李石磊 《Journal of Central South University》 SCIE EI CAS 2014年第6期2324-2333,共10页
Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,th... Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,the group leaders can attain the information of the global trajectory,while each follower can communicate with its neighbors and corresponding leader but does not have global knowledge.Being to a distributed control method,the proposed method firstly sets a movable imaginary point on the global trajectory to ensure that the center and average velocity of the leader agents satisfy the constraints of the global trajectory.Secondly,a two-stage strategy was proposed to make the whole group satisfy the constraints of the global trajectory.Moreover,the distance between the center of the group and the desired trajectory was analyzed in detail according to the number ratio of the followers to the leaders.In this way,on one hand,the agents of the group emerge a basic flocking behavior; on the other hand,the center of the group satisfies the constraints of global trajectory.Simulation results demonstrate the effectiveness of the proposed method. 展开更多
关键词 multi-agent system group of agents flocking behavior distributed control global trajectory
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Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control 认领 引用 被引量：2
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作者 ZHANG Lalu Xiangxiang Dong +1 位作者 YAO Lixiu CAI Yunze 《Journal of Shanghai Jiaotong university(Science)》 EI 2021年第4期446-453,共8页
Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on... Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm. 展开更多
关键词 mobile sensor network velocity-varying target tracking flocking control Kalman-consensus filtering
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具有虚拟领导的Flocking聚类算法 认领 引用 被引量：1
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作者 李强 何衍 蒋静坪 《电子与信息学报》 EI CAS 北大核心 2009年第8期1846-1851,共6页
该文提出一种改进的带虚拟领导的Flocking模型,并基于此模型开发了一种数据聚类算法。在此算法中,数据集中的数据点被考虑为可以在空间中移动的Agent,并且根据改进的模型,生成有权无向图。然后从数据集中选定一组虚拟领导,每个数据点与... 该文提出一种改进的带虚拟领导的Flocking模型,并基于此模型开发了一种数据聚类算法。在此算法中,数据集中的数据点被考虑为可以在空间中移动的Agent,并且根据改进的模型,生成有权无向图。然后从数据集中选定一组虚拟领导,每个数据点与其中γ个虚拟领导建立连接。所有与这个数据点有连接的邻居,都通过一个势函数产生场,对这个数据点进行作用,此数据点将沿着所有场矢量叠加的方向移动一段距离。算法中,虚拟领导的加入有效减少了数据点,特别是邻居较少的数据点向某个中心收敛的时间。在所有数据点不断受到作用而移动的过程中,同类的数据点就会逐渐地聚集到一起,而不同类的数据点则相互远离,最后自动形成聚类。此算法的实验结果表明,数据点能合理有效地被聚类,并且算法具有较快的收敛速度,同时,与其他算法对比也验证了此算法的有效性。 展开更多
关键词 数据聚类 无监督学习 Flocking模型 虚拟领导
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Unmanned Aerial Vehicle Formation Inspired by Bird Flocking and Foraging Behavior 认领 引用 被引量：7
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作者 Tian-Jie Zhang 《International Journal of Automation and computing》 CSCD 2018年第4期402-416,共15页
This paper considers a multiple unmanned aerial vehicles （UAV） formation problem and proposes a new method inspired by bird flocking and foraging behavior. A bidirectional communication network, a navigator based on... This paper considers a multiple unmanned aerial vehicles （UAV） formation problem and proposes a new method inspired by bird flocking and foraging behavior. A bidirectional communication network, a navigator based on bird foraging behavior, a controller based on bird interaction and a movement switch are developed for multi-UAV formation. Lyapunov＇s second method and mechanical energy method are adopted for stability analysis. Parameters of the controller are optimized by Levy-flight based pigeon inspired optimization （Levy-PIO）. Patrol missions along a square and an S shaped trajectory are designed to test this formation method. Simula- tions prove that the bird flocking and foraging strategy can accomplish the mission and obtain satisfying performance. 展开更多
关键词 Unmanned aerial vehicle（UAV） formation bird flocking foraging pigeon-inspired optimization Levy-flight.
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Flocking in Multi-Agent Systems with Multiple Virtual Leaders Based Only on Position Measurements 认领 引用 被引量：5
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作者 苏厚胜 《Communications in Theoretical Physics》 SCIE CAS CSCD 2012年第5期801-807,共7页
Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents.In this paper,the problem of controlling a flock o... Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents.In this paper,the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders is investigated by using only position information in the sense that agents with the same virtual leader asymptotically attain the same velocity and track the corresponding virtual leader based on only position measurements.A flocking algorithm is proposed under which every agent asymptotically attains its desired velocity,collision between agents can be avoided,and the final tight formation minimizes all agents' global potentials.A simulation example is presented to verify and illustrate the theoretical results. 展开更多
关键词 distributed control flocking multi-agent system multiple virtual leaders
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Flocking and clustering in mixtures of self-propelled particles with or without active reorientation 认领 引用 被引量：1
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作者 Lu Chen Z C Tu 《Communications in Theoretical Physics》 SCIE CAS CSCD 2023年第11期135-141,共7页
We study phase behaviors of mixtures comprising active particles with and without active reorientation by varying mixing ratios.We observe that the order parameter characterizing flocking in the steady state exhibits ... We study phase behaviors of mixtures comprising active particles with and without active reorientation by varying mixing ratios.We observe that the order parameter characterizing flocking in the steady state exhibits a linear decrease with an increase in mixing ratio.While the order parameter characterizing clustering in the steady state presents a sharp leap as the mixing ratio increases.Particularly,we obtain phase diagrams of flocking under different mixing ratios and observe that the domain corresponding to flocking experiences a contraction with the increase of mixing ratio.Simultaneously,the coordinates of the critical point on the phase boundary between the flocking and the disordered phase decay exponentially with the mixing ratio. 展开更多
关键词 active matter flocking clustering binary system
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基于Flocking的车辆编队分布式控制 认领 引用 被引量：2
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作者 王永磊 莫广波 +1 位作者 何良云 李修龙 《仪表技术》 2016年第6期4-8,共5页
完成基于Flocking的车辆编队模型的分布式控制。首先建立基于Hebb规则的Flocking运动模型,其次引入路线和面积势能控制完成控制器设计,然后以直线运动为例仿真验证基于Flocking的车辆编队模型,最后进行误差分析。建立的Flocking运动模... 完成基于Flocking的车辆编队模型的分布式控制。首先建立基于Hebb规则的Flocking运动模型,其次引入路线和面积势能控制完成控制器设计,然后以直线运动为例仿真验证基于Flocking的车辆编队模型,最后进行误差分析。建立的Flocking运动模型可以实现车辆编队的分布式控制。 展开更多
关键词 车辆编队 Flocking 分布式控制 角度权值
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Flocking for swarm systems with fixed topology in a changing environment 认领 引用 被引量：2
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作者 Zonggang LI Yingmin JIA 《控制理论与应用（英文版）》 2008年第3期333-339,共7页
This paper is mainly devoted to the flocking of a class of swarm with fixed topology in a changing environment. Firstly, the controller for each agent is proposed by employing the error terms between the state of the ... This paper is mainly devoted to the flocking of a class of swarm with fixed topology in a changing environment. Firstly, the controller for each agent is proposed by employing the error terms between the state of the agent and the average state of its neighbors. Secondly, a sufficient condition for the swarm to achieve flocking is presented under assumptions that the gradient of the environment is bounded and the initial position graph is connected. Thirdly, as the environment is a plane, it is further proved that the velocity of each agent finally converges to the velocity of the swarm center although not one agent knows where the center of the group is. Finally, numerical examples are included to illustrate the obtained results. 展开更多
关键词 Swarm Multi-agent systems Flocking Collective behavior Ultimately bounded analysis
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Flocking for Leader-Following Multi-Agent Systems with Time-Varying Delay 认领 引用 被引量：1
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作者 Fenglan Sun Rui Wang +1 位作者 Yongfu Li Feng Liu 《Intelligent Control and Automation》 2016年第1期9-15,共7页
This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-... This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-varying delay is proposed. Under the assumption that the initial network is connected, it is proved that the distance between agents is in the desired distance. The theoretical deduction shows that the stable flocking motion is achieved. 展开更多
关键词 Flocking Time-Varying Delay Nonlinear Dynamics Multi-Agent System Virtual Leader
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Memory-augmented adaptive flocking control for multi-agent systems subject to uncertain external disturbances 认领 引用
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作者 Ximing Wang Jinsheng Sun +1 位作者 Zhitao Li Zixing Wu 《Chinese Physics B》 SCIE EI CAS CSCD 2022年第2期189-195,共7页
This paper presents a novel flocking algorithm based on a memory-enhanced disturbance observer.To compensate for external disturbances,a filtered regressor for the double integrator model subject to external disturban... This paper presents a novel flocking algorithm based on a memory-enhanced disturbance observer.To compensate for external disturbances,a filtered regressor for the double integrator model subject to external disturbances is designed to extract the disturbance information.With the filtered regressor method,the algorithm has the advantage of eliminating the need for acceleration information,thus reducing the sensor requirements in applications.Using the information obtained from the filtered regressor,a batch of stored data is used to design an adaptive disturbance observer,ensuring that the estimated values of the parameters of the disturbance system equation and the initial value converge to their actual values.The result is that the flocking algorithm can compensate for external disturbances and drive agents to achieve the desired collective behavior,including virtual leader tracking,inter-distance keeping,and collision avoidance.Numerical simulations verify the effectiveness of the algorithm proposed in the present study. 展开更多
关键词 flocking control multi-agent systems adaptive control disturbance rejection
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Topology-preserving flocking of nonlinear agents using optimistic planning 认领 引用
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作者 Lucian BU?ONIU Irinel-Constantin MORRESCU 《Control Theory and Technology》 EI CSCD 2015年第1期70-81,共12页
We consider the generalized flocking problem in multiagent systems, where the agents must drive a subset of their state variables to common values, while communication is constrained by a proximity relationship in ter... We consider the generalized flocking problem in multiagent systems, where the agents must drive a subset of their state variables to common values, while communication is constrained by a proximity relationship in terms of another subset of variables. We build a flocking method for general nonlinear agent dynamics, by using at each agent a near-optimal control technique from artificial intelligence called optimistic planning. By defining the rewards to be optimized in a well-chosen way, the preservation of the interconnection topology is guaranteed, under a controllability assumption. We also give a practical variant of the algorithm that does not require to know the details of this assumption, and show that it works well in experiments on nonlinear agents. 展开更多
关键词 Multiagent systems flocking optimistic planning topology preservation
Flocking control of a fleet of unmanned aerial vehicles 认领 引用 被引量：4
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作者 Adel BELKADI Zhixiang LIU +2 位作者 Laurent CIARLETTA Youmin ZHANG Didier THEILLIOL 《Control Theory and Technology》 EI CSCD 2018年第2期82-92,共11页
Current applications using single unmanned vehicle have been gradually extended to multiple ones due to their increased efficiency in mission accomplishment, expanded coverage areas and ranges, as well as enhanced sys... Current applications using single unmanned vehicle have been gradually extended to multiple ones due to their increased efficiency in mission accomplishment, expanded coverage areas and ranges, as well as enhanced system reliability. This paper presents a flocking control method with application to a fleet of unmanned quadrotor helicopters （UQHs）. Three critical characteristics of formation keeping, collision avoidance, and velocity matching have been taken into account in the algorithm development to make it capable of accomplishing the desired objectives （like forest/pipeline surveillance） by safely and efficiently operating a group of UQHs. To achieve these, three layered system design philosophy is considered in this study. The first layer is the flocking controller which is designed based on the kinematics of UQH. The modified Cucker and Smale model is used for guaranteeing the convergence of UQHs to flocking, while a repelling force between each two UQHs is also added for ensuring a specified safety distance. The second layer is the motion controller which is devised based on the kinetics of UQH by employing the augmented state-feedback control approach to greatly minimize the steady-state error. The last layer is the UQH system along with its actuators. Two primary contributions have been made in this work： first, different from most of the existing works conducted on agents with double integrator dynamics, a new flocking control algorithm has been designed and implemented on a group of UQHs with nonlinear dynamics. Furthermore, the constraint of fixed neighbouring distance in formation has been relaxed expecting to significantly reduce the complexity caused by the increase of agents number and provide more flexibility to the formation control. Extensive numerical simulations on a group of UQH nonlinear models have been carried out to verify the effectiveness of the proposed method. 展开更多
关键词 Flocking unmanned aerial vehicles unmanned quadrotor helicopters Cucker and Smale formation control
Distributed Flocking Algorithm for Multi-UAV System Based on Behavior Method and Topological Communication 认领 引用 被引量：3
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作者 Yifei Feng Jingshi Dong +1 位作者 Jianlin Wang Hang Zhu 《Journal of Bionic Engineering》 SCIE EI CSCD 2023年第2期782-796,共15页
There are many interesting flocking phenomena in nature,such as joint predation and group migration,and the intrinsic communication patterns of flocking are essential for studying group behavior.Traditional models of ... There are many interesting flocking phenomena in nature,such as joint predation and group migration,and the intrinsic communication patterns of flocking are essential for studying group behavior.Traditional models of communication such as the pigeon flock model and the wolf pack model define all agents within a perceptual distance as the neighborhoods,and some models have fixed communicating numbers.There is a significant impact on the quality of the flocking formation when encountering poor initial state of the flocking,multiple obstacles,or loss of certain agents.To solve this problem,this paper proposes a local communication model with nearest agents in four directions.Based on this model and behavioral method,two distributed flocking formation algorithms are designed in this paper for different scenarios,namely the flocking algorithm and the circular formation algorithm.Numerical simulation results show that the flocking can pass through the obstacle area and re-formation smoothly,and also the formation quality of the flocking is better compared with the traditional communication model. 展开更多
关键词 Multi-UAV system Distributed control Flocking formation Topological communication Bioinspired
Leveraging on Flock Dynamics and Farmers’ Production Constraints in Designing Flock Health Program for Accelerated Goat Production 认领 引用
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作者 Williams Guma Sylvester Dickson Baguma +1 位作者 Lydia Patricia Asekenye Ivan Tumwesige 《Open Journal of Veterinary Medicine》 CAS 2023年第11期193-220,共28页
Compliance with appropriate flock health program is vital for preventing introduction and minimizing impact of diseases in goat farms. Unfortunately, most goat farms in Uganda, especially in the Albertine Graben Zone ... Compliance with appropriate flock health program is vital for preventing introduction and minimizing impact of diseases in goat farms. Unfortunately, most goat farms in Uganda, especially in the Albertine Graben Zone lack flock health program. The associated frequent outbreaks slow down effort aimed at commercializing goat production. In this study, we documented flock dynamics, identified and prioritized pressing challenges experienced by goat farms during the year 2022 and generated appropriate flock health program and packaged it for dissemination to farmers. Materials and Methods: Using a cross-sectional design, semi-structured questionnaire, data were collected and analyzed with MS Excel 2013. The data included: location and socio-demographics of household, farming system, flock dynamics, housing, feeding system, health management, challenges encountered by goat farm and suggested solutions. Results: Beginning January 2022 to December 2022, the number of goats reared in all the 45 sample farms increased from 2128 to 2220 goats. Results showed that 884 kids were produced and 88 breeding goats were introduced into the farms. Three hundred ninety-nine goats died due to mainly diseases and 435 goats got withdrawn through nondeath. The average farm level and overall mortality rate were 21 goats per 1000 goatmonths and 15 goats per 1000 goatmonths respectively. The most pressing challenges encountered by sample farms were death of goats especially due to diseases, poor access to veterinary extension services, high cost of inputs and feed scarcity. Solutions suggested by sample farms were improved access to veterinary services, improved housing, enhanced vaccination of goats against diseases, and enhanced grazing land management and feed conservation, all of which were incorporated into the flock health program. Conclusion and Recommendations: An appropriate flock health program was generated based on flock dynamics and production constraints which reveal high mortality and limited access to veterinary services respectively. Actors are recommended to promote adoption and adherence to the flock health program so as to increase goat production and access to wider market. 展开更多
关键词 Flock Dynamics Flock Health Program Goat Production Albertine Graben
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基于flocking的多智能体群集与避障算法研究与仿真 认领 引用 被引量：3
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作者 刘婵 朱永川 +1 位作者 白园 何健辉 《通信技术》 2019年第7期1632-1638,共7页
多智能体运动规划问题逐渐成为智能体中研究的热点问题。多智能体运动规划主要包括路径规划、编队控制和避障避碰三种控制行为。主要介绍了基于分布式flocking的群集控制模式,实现了多智能体系统的集结与共识,使多智能体在运动过程中保... 多智能体运动规划问题逐渐成为智能体中研究的热点问题。多智能体运动规划主要包括路径规划、编队控制和避障避碰三种控制行为。主要介绍了基于分布式flocking的群集控制模式,实现了多智能体系统的集结与共识,使多智能体在运动过程中保持一致性,并为系统提供冗余性和结构的灵活性;同时对多智能体的避障控制和目标点控制开展了进一步的研究,解决群集避障问题,在复杂环境下成功抵达任务目标区域;最后通过仿真验证了该算法的合理性和有效性。 展开更多
关键词 flocking 多智能体 群集控制 共识 避障
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