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Experiments on Formation Tracking for UAV and UGV Swarm Systems
Published in Yongzhao Hua, Xiwang Dong, Ren Zhang, Formation Tracking Control for Heterogeneous Swarm Systems, 2022
Yongzhao Hua, Xiwang Dong, Ren Zhang
Fig. 8.21 shows the numerical simulation results of the fourteen quadrotors within t=80s, where the initial states are marked by “∘”, the final states of followers are represented by “*”, the final states of the leaders are denoted by “∙”, “△”, “⋄”, “□”, “x”, and hexagram respectively, and the final states of the formation reference are marked by the pentagram. Fig. 8.22 shows the snapshots of position and velocity trajectories at t=70s. Fig. 8.23 gives the curves of the formation error eE(t) and the containment error eC(t). From Figs. 8.21–8.23, the following phenomena can be found: 1) both the position and velocity components of leaders form the regular hexagon formation; 2) the regular hexagon formation keep rotating around the oscillating formation reference; and 3) the states of followers not only converge to the convex hull spanned by those of the leaders but also form hexagon formation. Therefore, the desired formation-containment is achieved by the UAV swarm systems in the three dimensional space.
‘Fit’ for change: measuring designer competence
Published in International Journal of Design Creativity and Innovation, 2018
Using an implied, nonlinear structure in developing test items for constructs such as aptitude-application is a radical break with psychometric traditions that requires items to be logically independent of each other and to contain no implied assumptions. I Ching’s binary, non-linear structure demands that hexagrams (items) contain multiple constructs and that the positional relationship between trigrams (aptitude-application) is crucial to understanding them. The following test items, for example, carry more than one construct (underlined):I’m sensitive to context while communicating with others.I exercise self-inquiry into the disorganizing principles in my life.I perceive change as an opportunity for personal renewal.If one looks closely, one can see an active (yang) component (e.g., ‘communicating with others’ and a passive (yin) component (e.g., ‘sensitive to context’). An item’s yin-yang qualities, though not always obvious to the uninformed reader, are tied to aptitude and application measures. For example, aptitude for ‘communication’ requires ‘sensitivity to one’s surroundings’ while ‘sensitivity to context’ is enhanced by applying ‘communication’ in different contexts.