• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.401-412
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• 2008

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

• Journal of Communications and Networks
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• 제10권2호
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• pp.204-212
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• 2008

We study the routing problem in all-wireless networks based on cooperative transmissions. We model the minimum-energy cooperative path (MECP) problem and prove that this problem is NP-complete. We hence design an approximation algorithm called cooperative shortest path (CSP) algorithm that uses Dijkstra's algorithm as the basic building block and utilizes cooperative transmissions in the relaxation procedure. Compared with traditional non-cooperative shortest path algorithms, the CSP algorithm can achieve a higher energy saving and better balanced energy consumption among network nodes, especially when the network is in large scale. The nice features lead to a unique, scalable routing scheme that changes the high network density from the curse of congestion to the blessing of cooperative transmissions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.556-559
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• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

• 산업경영시스템학회지
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• 제43권1호
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• pp.79-86
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• 2020

The effects of R&D investment on innovation such as patents and intangible assets, and the effect on the corporate performance such as revenue and profit growth, were analyzed using path analysis. In particular, this study compared and analyzed the performances of non-cooperative R&D and cooperative R&D. The results of this study are summarized as follows. First, R&D investment has a significant impact on innovation performance. This supports the existing research results. Second, patents have a significant impact on intangible asset growth. Third, in the case of corporate groups carrying out cooperative R&D, intangible asset growth forms a significant causal relationship with revenue growth. Fourth, in case of cooperative R&D, intangible asset growth has a significant mediating effect between patent and revenue growth. Like the existing research, the results of this research support the innovation performance of R&D investment. It also supports the existing argument that the results of cooperative R&D are more favorable to increase corporate value. However, unlike the existing research, we found a path leading to increased revenue through patents and intangible assets, and confirmed that such a path is likely to be achieved through cooperative R & D rather than internal R&D.

• 대한전자공학회논문지TC
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• 제49권5호
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• pp.66-71
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• 2012

이동성이 있는 센서 노드나 매우 제한된 에너지 량을 사용할 수 있는 배터리 용량을 가진 센서 노드는 채널의 변화나 미세한 이동이 있더라도 정확한 네트워크 구성을 할 수 있어 한다. 본 논문에서는 무선 센서 네트워크 내에서 다수의 협동 릴레이 노드가 존재할 때 선택기준에 따라 SNR(Signal to Noise Ratio)과 릴레이 노드의 신호 증폭률 그리고 단말과 단말 간 직접적으로 통신하는 경우 경로의 이득의 변화에 따른 무선 센서네트워크의 단위 비트를 전송하는데 소모되는 에너지 효율에 대하여 분석하고 이에 따른 영향을 정량적으로 평가하였다. 전송용량의 이득과 에너지 소모에 있어서 이득이 있는 협동 릴레이 노드를 선택하여 직접 경로와 릴레이 경로의 복수의 경로를 사용함으로써 위상 비동기 협동 릴레이를 적용하는 센서네트워크 환경하에서 직접적으로 통신하는 경우대비 적은 에너지를 사용하여 무선 센서 네트워크 내에서 효율적으로 통신이 이루어 질 수 있음을 분석을 통해 확인하였다.

• 한국인터넷방송통신학회논문지
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• 제8권5호
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• pp.113-119
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• 2008

기존의 1-1-1 협력 프로토콜은 멀티 홉이 가지고 있는 경로손실감소 이득과 함께 MIMO와 동일한 공간 다이버시티를 제공한다. 이를 통해 싱글 홈, 멀티 홉보다 뛰어난 정보의 신뢰도 및 에너지 소비 감소를 얻을 수 있다. 하지만 기존의 1-1-1 협력 프로토콜은 단일의 협력 중계기를 사용하므로 경로손실감소 이득과 다이버시티 이득 계수가 2로 제한되어 있다. 따라서 본 논문에서는 두개의 협력 중계기 R1, R2를 사용한 1-2-1 협력 프로토콜을 제안한다. 1-2-1 협력 프로토콜은 경로손실감소 이득을 높이고 계수가 3인 다이버시티 이득을 얻는다. 또한, 협력 중계가 R2에서도 계수가 2인 다이버시티 이득을 얻을 수 있다. 협력 중계기는 DF (Decode and Forward)와 DR (Decode and Reencode) 방식을 사용하여 1-2-1 DF 또는 DR 협력 프로토콜을 형성하고, 클러스터링 기반의 무선 센서 네트워크 (WSNs)에 적용한다. 제안한 프로토콜의 성능평가를 위해 레일리 페이딩과 AWGN (Additive White Gaussian Noise) 채널이 합해진 채널에서 모의실험을 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.165-166
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• 2009

• 대한전자공학회논문지TC
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• 제49권5호
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• pp.72-76
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• 2012

이동성이 있는 센서 노드로 구성 된 센서 네트워크를 효율적으로 사용하기 위하여 고려해야 할 사항 중 중요한 것이 자원의 효율적인 사용과 신호를 빠르고 정확하게 보내는 것이다. 본 논문에서는 무선 센서 네트워크 내에서 SNR(Signal to Noise Ratio)과 릴레이 노드의 신호 증폭률 그리고 노드와 노드 간 직접적으로 통신하는 경우 경로의 이득의 변화에 따른 무선 센서 네트워크의 특성에 대하여 분석하고 다수의 협동 릴레이 노드가 존재할 때 선택기준을 제시하고 이에 따른 영향을 정량적으로 평가하였다.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• Journal of Communications and Networks
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• 제10권2호
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• pp.156-162
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• 2008

Cooperative relays can provide spatial diversity and improve performance of wireless communications. In this paper, we study subcarrier power allocation at the relays for orthogonal frequency division multiplexing (OFDM)-based wireless systems. For cooperative relay with amplify-and-forward (AF) and decode-and-forward (DF) algorithms, we investigate the impact of power allocation to the mutual information between the source and destination. From our simulation results on word~error-rate (WER) performance, we find that the DF algorithm with power allocation provides better performance than that of AF algorithm in a single path relay network because the former is able to eliminate channel noise at each relay. For the multiple path relay network, however, the network structure is already resistant to noise and channel distortion, and AF approach is a more attractive choice due to its lower complexity.