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  • Open Access


    Circular Formation Control with Collision Avoidance Based on Probabilistic Position

    Hamida Litimein1, Zhen-You Huang1, Muhammad Shamrooz Aslam2,*

    Intelligent Automation & Soft Computing, Vol.37, No.1, pp. 321-341, 2023, DOI:10.32604/iasc.2023.036786

    Abstract In this paper, we study the circular formation problem for the second-order multi-agent systems in a plane, in which the agents maintain a circular formation based on a probabilistic position. A distributed hybrid control protocol based on a probabilistic position is designed to achieve circular formation stabilization and consensus. In the current framework, the mobile agents follow the following rules: 1) the agent must follow a circular trajectory; 2) all the agents in the same circular trajectory must have the same direction. The formation control objective includes two parts: 1) drive all the agents to the circular formation; 2) avoid… More >

  • Open Access


    FSE2R: An Improved Collision-Avoidance-based Energy Efficient Route Selection Protocol in USN

    Prasant Ku. Dash1, Lopamudra Hota2, Madhumita Panda3, N. Z. Jhanjhi4,*, Kshira Sagar Sahoo5, Mehedi Masud6

    Computer Systems Science and Engineering, Vol.44, No.3, pp. 2225-2242, 2023, DOI:10.32604/csse.2023.024836

    Abstract The 3D Underwater Sensor Network (USNs) has become the most optimistic medium for tracking and monitoring underwater environment. Energy and collision are two most critical factors in USNs for both sparse and dense regions. Due to harsh ocean environment, it is a challenge to design a reliable energy efficient with collision free protocol. Diversity in link qualities may cause collision and frequent communication lead to energy loss; that effects the network performance. To overcome these challenges a novel protocol Forwarder Selection Energy Efficient Routing (FSE2R) is proposed. Our proposal’s key idea is based on computation of node distance from the… More >

  • Open Access


    Method for Collision Avoidance in Spacecraft Rendezvous Problems with Space Objects in a Phasing Orbit

    Danhe Chen1,*, A. A. Baranov2, Chuangge Wang1, M. O. Karatunov3, N. Yu. Makarov3

    CMES-Computer Modeling in Engineering & Sciences, Vol.127, No.3, pp. 977-991, 2021, DOI:10.32604/cmes.2021.014662

    Abstract As the number of space objects (SO) increases, collision avoidance problem in the rendezvous tasks or re-constellation of satellites with SO has been paid more attention, and the dangerous area of a possible collision should be derived. In this paper, a maneuvering method is proposed for avoiding collision with a space debris object in the phasing orbit of the initial optimal solution. Accordingly, based on the plane of eccentricity vector components, relevant dangerous area which is bounded by two parallel lines is formulated. The axises of eccentricity vector system pass through the end of eccentricity vector of phasing orbit in… More >

  • Open Access


    Deterministic Vessel Automatic Collision Avoidance Strategy Evaluation Modeling

    Liu Hongdan, Liu Qi, Sun Rong

    Intelligent Automation & Soft Computing, Vol.25, No.4, pp. 789-804, 2019, DOI:10.31209/2019.100000083

    Abstract Based on the concrete sailing parameters of the own vessel and the target vessel demarcate and the division of stages of vessel collision avoidance, the deterministic vessel automatic collision avoidance strategy evaluation model is constructed by the relevant factors which influence ships encounter dangerous situation. By means of inputting the relevant parameters of the collision avoidance strategy into the feasibility evaluation model, the estimated judging curves of the pivotal parameters of vessel collision avoidance can be validated, furthermore, the deterministic collision avoidance evaluation model for single vessel can be extended to the multi-vessels collision avoidance evaluation. Finally, by means of… More >

  • Open Access


    acSB: Anti-Collision Selective-Based Broadcast Protocol in CR-AdHocs

    Yueyue Li1,*, Zhong Huang1, Yugang Ma2, Guangjun Wen1

    CMC-Computers, Materials & Continua, Vol.56, No.1, pp. 35-46, 2018, DOI: 10.3970/cmc.2018.03712

    Abstract As a fundamental operation in ad hoc networks, broadcast could achieve efficient message propagations. Particularl y in the cognitive radio ad hoc network where unlicensed users have different sets of available channels, broadcasts are carried out on multiple channels. Accordingly, channel selection and collision avoidance are challenging issues to balance the efficiency against the reliability of broadcasting. In this paper, an anti-collision selective broadcast protocol, called acSB, is proposed. A channel selection algorithm based on limited neighbor information is considered to maximize success rates of transmissions once the sender and receiver have the same channel. Moreover, an anti-collision scheme is… More >

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