Swarm Dynamics Behavior Analysis and Coordinated Control of Limited-Range Perceived Agents

نویسندگان

  • Zhibin Xue
  • Jianchao Zeng
چکیده

Swarming behavior is ubiquitous in nature and society. It is of both theoretical and practical importance to investigate the underlying principles and mechanisms of coordination and cooperation emerging in swarms. In this paper we propose a simple isotropic range limited-perceive agents dynamic model to study collective and formation behavior of a group of mobile autonomous agents interacting through a long range attraction and short range repulsion function. It is shown that the individuals (agents) in the swarm during the course of coordinative motion can realize the local collision-free stabilization of constituting a particular predefined geometrical configuration. Numerical simulations are also worked out to illustrate the analytical results.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Flocking Motion, Obstacle Avoidance and Formation Control of Range Limit Perceived Groups Based on Swarm Intelligence Strategy

In nature there are many biological organisms show that the collective behavior in which implicating the potential interior operational principle. Based on the analysis of various biological swarms of dynamic aggregation mechanism, the swarm’s flocking motion, obstacle avoidance and formation behaviour control was studied based on intelligent agents that have limited detection range, an isotrop...

متن کامل

Adaptive Swarm Coordination and Formation Control

Swarm coordination and formation control designs focus on multi-agent dynamic system behavior and aim to achieve desired coordinated behavior or predefined geometric shape. They utilize techniques from the control theory and graph theory literature. On the other hand, adaptive control theory is concerned with uncertainties in the system dynamics, and has structured frameworks for various types ...

متن کامل

Dynamic coordinated control laws in multiple agent models

We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in [1], gives rise to spontaneous collective organization of agents into a unified coherent swarm, via a long-range attractive and short-range repulsive potential. We extend these results by presenting control laws whereby a single swarm is bro...

متن کامل

Suppression of Chaotic Behavior in Duffing-holmes System using Backstepping Controller Optimized by Unified Particle Swarm Optimization Algorithm

The nonlinear behavior analysis and chaos control for Duffing-Holmes chaotic system is discussed in the paper. In order to suppress the irregular chaotic motion, an optimal backstepping controller is designed. The backstepping method consists of parameters with positive values. The improper selection of the parameters leads to inappropriate responses or even may lead to instability of the syste...

متن کامل

Swarming behaviors in multi-agent systems with nonlinear dynamics.

The dynamic analysis of a continuous-time multi-agent swarm model with nonlinear profiles is investigated in this paper. It is shown that, under mild conditions, all agents in a swarm can reach cohesion within a finite time, where the upper bounds of the cohesion are derived in terms of the parameters of the swarm model. The results are then generalized by considering stochastic noise and switc...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2010