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NTIS 바로가기제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.19 no.5, 2013년, pp.398 - 409
강성모 (광주과학기술원 기전공학부) , 박명철 (광주과학기술원 기전공학부) , 이병훈 (광주과학기술원 기전공학부) , 오광교 (전자부품연구원) , 안효성 (광주과학기술원 기전공학부)
This paper provides an overview of distance-based formation control. Firstly, in this paper, we introduce preliminary background materials that are used in defining the distance-based formation control. Then, based on the preliminary background, we briefly review main results developed thus far in t...
핵심어 | 질문 | 논문에서 추출한 답변 |
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각 개체가 자신의 센서 정보로 개체의 상태를 파악하고 스스로 움직임을 결정하는 경우 유리한 것은? | 이 방법은 개체수가 적거나 통신환경이 안정적일 경우 실용적으로 이용될 수 있는 방법이다. 이와 반대로 각 개체가 자신의 센서 정보로 개체의 상태를 파악하고 스스로 움직임을 결정하는 경우 기동성이나 데이터의 집중화를 피할 수 있기 때문에 전체 시스템의 안정성, 경량화, 신속성 등에서 유리하다. 본 논문에서는 각 개체가 자신의 센서 정보에 기반하여 편대를 제어하는 방법을 다뤄보고, 특히 국소정보(local information)에 기반하여 편대 제어를 수행하는 접근법에 대해서 소개한다. | |
편대 제어가 대표적으로 응용되는 분야는? | 편대 제어(formation control)는 공학분야에서 오랫동안 연구되어온 주제로 최근에는 다양한 응용 관점에서 활발히 연구되고 있다[1,2]. 대표적인 응용분야로는 다중 무인비행기, 군집 로봇, 전력망 제어, 교통망 제어, 군집현상에 기반한 미디어 아트 기술 등이라 할 수 있다. 편대 제어는 각 개체를 어떻게 제어하면 원하는 형태의 모양, 패턴, 군집 행동 등을 할 수 있는지 관심이 있고, 제어기를 설계하기 위해서 전체 시스템의 안정성을 분석하고 해석한다. | |
비정형화된 편대가 관심이 있는 것은? | 정형화된 편대는 편대의 형태를 달성하고자 하는 접근과 편대의 특성을 달성하고자 하는 접근으로 나뉘어진다. 비정형화된 편대는 개체간의 정형화된 기하학적 구조보다는 무리 전체를 어떻게 위치시키고 서로 상관관계를 설정하게 하는지에 관심이 있다. 편대 제어는 각 개체가 어떠한 정보를 이용하고 사용하는지에 따라서도 분류될 수 있다. |
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