Stability analysis of M-dimensional asynchronous swarms with a fixed communication topology

@article{citeulike:366652, abstract = {Coordinated dynamical swarm behavior occurs when certain types of animals forage for food or try to avoid predators. Analogous behaviors can occur in engineering systems (e.g., in groups of autonomous mobile robots or air vehicles). In this paper, we study a model of an M-dimensional (M/spl ges/2) asynchronous swarm with a fixed communication topology, where each member only communicate with fixed neighbors, to provide conditions under which collision-free convergence can be achieved with finite-size swarm members that have proximity sensors, and neighbor position sensors that only provide delayed position information. Moreover, we give conditions under which an M-dimensional asynchronous mobile swarm with a fixed communication topology following an "edge-leader" can maintain cohesion during movements even in the presence of sensing delays and asynchronism. In addition, the swarm movement flexibility is analyzed. Such stability analysis is of fundamental importance if one wants to understand the coordination mechanisms for groups of autonomous vehicles or robots, where intermember communication channels are less than perfect and collisions must be avoided.}, author = {Liu, Yang and Passino, K. M. and Polycarpou, M. M. }, citeulike-article-id = {366652}, journal = {Automatic Control, IEEE Transactions on}, keywords = {artificial, complex, emergence, eni, intelligence, networks, sociocognitive, swarm, systems}, number = {1}, pages = {76--95}, posted-at = {2005-12-08 16:01:34}, priority = {2}, title = {Stability analysis of M-dimensional asynchronous swarms with a fixed communication topology}, url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=1166526}, volume = {48}, year = {2003} }

TY - JOUR ID - citeulike:366652 L3 - citeulike-article-id:366652 TI - Stability analysis of M-dimensional asynchronous swarms with a fixed communication topology JF - Automatic Control, IEEE Transactions on VL - 48 IS - 1 SP - 76 EP - 95 N2 - Coordinated dynamical swarm behavior occurs when certain types of animals forage for food or try to avoid predators. Analogous behaviors can occur in engineering systems (e.g., in groups of autonomous mobile robots or air vehicles). In this paper, we study a model of an M-dimensional (M/spl ges/2) asynchronous swarm with a fixed communication topology, where each member only communicate with fixed neighbors, to provide conditions under which collision-free convergence can be achieved with finite-size swarm members that have proximity sensors, and neighbor position sensors that only provide delayed position information. Moreover, we give conditions under which an M-dimensional asynchronous mobile swarm with a fixed communication topology following an "edge-leader" can maintain cohesion during movements even in the presence of sensing delays and asynchronism. In addition, the swarm movement flexibility is analyzed. Such stability analysis is of fundamental importance if one wants to understand the coordination mechanisms for groups of autonomous vehicles or robots, where intermember communication channels are less than perfect and collisions must be avoided. KW - artificial KW - complex KW - emergence KW - eni KW - intelligence KW - networks KW - sociocognitive KW - swarm KW - systems AU - Liu, Yang AU - Passino, KM AU - Polycarpou, MM PY - 2003/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1166526 ER -