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《Journal of Zhejiang University(Engineering Science)》 2009-01
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Flocking based on coordination of ranked agents

LI Guo-yang,WU Ying-ying,WEI wei(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China)  
A model of competitive agent was proposed for the coordination of heterogenous agents during flocking inspired by the work on the relationships between the spatial structure and dominance of the golden snub-nosed monkey group in no-locomation.Then a new distributed coordination algorithm of ranked agents was presented.Flocking of ranked agents on a given region was formalized as a constrained locational optimization problem of each agent by using centroidal Voronoi partitions.Each agent integrated the objectives of safety,utility function optimization and hierarchized coordination.Then the individual safety was ensured and the conflicts among individuals during flocking were effectively resolved.The final flock was stable and hierarchized.The theoretical and experimental results proved the effectiveness of the algorithm.
【Fund】: 浙江省青年人才培养资助项目(R105341)
【CateGory Index】: TP181
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Chinese Journal Full-text Database 2 Hits
1 LU Jun~1,GUAN Zhi-hong~1,WANG Hua~(1,2)(1.Center for Nonlinear and Complex Systems,Huazhong University of Science and Technology,Wuhan430074,China;2.Department of Aerospace and Mechanical Engineering,Boston University,USA);Multiple Mobile Robots Swarming Control Model Based on Stream Function[J];机器人;2006-03
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Chinese Journal Full-text Database 10 Hits
1 LI Guangsong;CHEN Yixin;SUN Wenmo;WANG Xinwen;HUANG Zhipang;LI Yanpeng;XIANG Zuofu;DING Wei;XIAO Wen;LI Ming;District Administration of Gaoligong Mountain National Nature Reserve in Lushui;Central South University of Forestry and Technology;Institute of Eastern-Himalaya Biodiversity Research;Qujing Normal University;Institute of Zoology,Chinese Academy of Sciences;;Preliminary observation of population status and social organization of Rhinopithecus strykeri in Pianma Town,Nujiang County,China[J];兽类学报;2014-04
2 Xiaowei WANG;Chengliang WANG;Xiaoguang QI;Songtao GUO;Haitao ZHAO;Baoguo LI;Institute of Zoology,Shaanxi Academy of Sciences;College of Life Sciences,Northwest University;;A newly-found pattern of social relationships among adults within one-male units of golden snub-nosed monkeys (Rhinopithecus roxenalla) in the Qinling Mountains,China[J];Integrative Zoology;2013-04
3 ZHAO Haitao 1,WANG Xiaowei 1*,QI Xiaoguang 2,WANG Chengliang 1,GAO Cunlao 3,SI Kaichuang 3,LI Baoguo 1,2*(1 Shaanxi Institute of Zoology,Xi'an 710032,China)(2 College of Life Sciences,Northwest University,Xi'an 710069,China)(3 Zhouzhi National Nature Reserve Management,Zhouzhi 710400,China);The correlation between dominance rank and spatial position of adult females in one-male units of the golden snub-nosed monkeys(Rhinopithecus roxellana)in Qinling Mountains,China[J];兽类学报;2013-03
4 CHEN Jie1,2 FANG Hao1,2 XIN Bin1,2 DENG Fang1,2 1.School of Automation,Beijing Institute of Technology,Beijing 100081 2.Key Laboratory of Intelligent Control and Decision of Complex Systems,Beijing 100081;Modeling,Optimization and Control in Ground-based Digital Weapon Systems[J];自动化学报;2013-07
5 HE HaiXia 1,ZHAO HaiTao 1,2,QI XiaoGuang 1,WANG XiaoWei 2,GUO SongTao 1,JI WeiHong 2,3,WANG ChengLiang 2,WEI Wei 1 & LI BaoGuo 1,2* 1 College of Life Sciences,Northwest University,Xi'an 710069,China;2 Institute of Zoology,Shaanxi Academy of Sciences,Xi'an 710032,China;3 Institute of Natural Resources,Massey University,Albany,Auckland 1311,New Zealand;Dominance rank of adult females and mating competition in Sichuan snub-nosed monkeys(Rhinopithecus roxellana)in the Qinling Mountains,China[J];Chinese Science Bulletin;2013-18
6 GUO Cheng1,2,XIANG Zuo-fu1,REN Bao-ping2,LI Ming2(1.School of Life Science & Technology,Central South University of Forestry & Technology,Changsha 410004,Hunan China; 2.Primate Ecology Research Group of Institute of Zoology,Chinese Academy of Sciences,Beijing 100101,China);All-male unit's spatial structure and its function of a moving troop in Rhinopithecus bieti[J];中南林业科技大学学报;2011-07
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8 QI Xiaoguang1,4, WANG Ming1, ZHANG Peng2,4, WANG Xiaowei3 Kunio WATANABE4, LI Baoguo1,3 ( 1 College of Life Sciences,Key Laboratory of Resource Biology and Biotechnology in Western China of Ministry of Education,Northwest University,Xi’an 710069,China) ( 2 School of Sociology and Anthropology,Sun Yat-sen University,Guangzhou 510275,China) ( 3 Institute of Zoology,Shannxi Academy of Sciences,Xi’an 710032,China) ( 4 Primate Research Institute,Kyoto University,Aichi 484-8506,Japan);Pattern and influencing factors of huddling behavior in golden snub-nosed monkeys ( Rhinopithecus roxellana)[J];兽类学报;2010-04
9 QI Xiaoguang1,4,ZHANG Peng2,4,LI Baoguo1,3,Kunio Watanabe4(1 College of Life Sciences,Northwest University,Key Laboratory of Resource Biology and Biotechnology in Western China of Ministry of Education,Xi'an 710069,China)(2 School of Socialology and anthropology,Sun Yat-Sen University,Guangzhou 510275,China)(3 Institute of Zoology,Shaanxi Academy of Sciences,Xi'an 710032,China)(4 Primate Research Institute,Kyoto University,Aichi 484-8506,Japan);The diversity of polygynous social systems among multi-level societies in non-human primates[J];兽类学报;2010-03
10 YU Pei-long1,YANG Jin-yuan2,BAO Wei-dong1,3,YU Hui-liang2,YAO Hui2,WU Feng2 (1.College of Biological Sciences and Technology,Beijing Forestry University,Beijing 100083;2.Hubei Shennongjia National Nature Reserve Station,Shennongjia 442421;3.Research Center of Nature Reserve,National Forestry Administration,Beijing 100083,China);Social behavior spectrum of a provisioned group of Sichuan snub-nosed monkeys at Shennongjia[J];生物学杂志;2009-06
【Secondary Citations】
Chinese Journal Full-text Database 1 Hits
1 ZHANG Peng ① LI Bao Guo ①** Kazuo WADA ② Chia L. TAN ③ Kunio WATANABE ④ (① Biology Department, School of Life Sciences, Northwest University, Xi’an 710069, China) (② Wildlife Conservation Society, Inuyama 484 0094, Japan) (③ Center for Reproduction of Endangered Species, The Zoological Society of San Diego,P. O. Box 120551, San Diego, CA 92112 0551, USA) (④ Primate Research Institute, Kyoto University, Inuyama 484 8506, Japan);Social structure of a group of Sichuan snub-nosed monkeys (Rhinopithecus roxellana)in the Qinling Mountains of China[J];动物学报;2003-06
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