A large number of previous works have demonstrated that cooperative spectrum sensing(CSS) among multiple users can greatly improve detection performance.However,when the number of secondary users(SUs;i.e.,spectrum sen...A large number of previous works have demonstrated that cooperative spectrum sensing(CSS) among multiple users can greatly improve detection performance.However,when the number of secondary users(SUs;i.e.,spectrum sensors) is large,the sensing overheads(e.g.,time and energy consumption) will likely be intolerable if all SUs participate in CSS.In this paper,we proposed a fully decentralized CSS scheme based on recent advances in consensus theory and unsupervised learning technology.Relying only on iteratively information exchanges among one-hop neighbors,the SUs with potentially best detection performance form a cluster in an ad hoc manner.These SUs take charge of CSS according to an average consensus protocol and other SUs outside the cluster simply overhear the sensing outcomes.For comparison,we also provide a decentralized implementation of the existing centralized optimal soft combination(OSC) scheme.Numerical results show that the proposed scheme has detection performance comparable to that of the OSC scheme and outperforms the equal gain combination scheme and location-awareness scheme.Meanwhile,compared with the OSC scheme,the proposed scheme significantly reduces the sensing overheads and does not require a priori knowledge of the local received signal-to-noise ratio at each SU.展开更多
Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus...Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.展开更多
基金supported by the National Basic Research Program of China (2009CB320400)the National Natural Science Foundation of China(60932002 and 61172062)the Natural Science Foundation of Jiangsu,China (BK2011116)
文摘A large number of previous works have demonstrated that cooperative spectrum sensing(CSS) among multiple users can greatly improve detection performance.However,when the number of secondary users(SUs;i.e.,spectrum sensors) is large,the sensing overheads(e.g.,time and energy consumption) will likely be intolerable if all SUs participate in CSS.In this paper,we proposed a fully decentralized CSS scheme based on recent advances in consensus theory and unsupervised learning technology.Relying only on iteratively information exchanges among one-hop neighbors,the SUs with potentially best detection performance form a cluster in an ad hoc manner.These SUs take charge of CSS according to an average consensus protocol and other SUs outside the cluster simply overhear the sensing outcomes.For comparison,we also provide a decentralized implementation of the existing centralized optimal soft combination(OSC) scheme.Numerical results show that the proposed scheme has detection performance comparable to that of the OSC scheme and outperforms the equal gain combination scheme and location-awareness scheme.Meanwhile,compared with the OSC scheme,the proposed scheme significantly reduces the sensing overheads and does not require a priori knowledge of the local received signal-to-noise ratio at each SU.
基金supported by the National High Technology Research and Development Program of China(Grant No.2011AA040103)the Research Foundationof Shanghai Institute of Technology,China(Grant No.B504)
文摘Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.
