On the Stability of Swarm Consensus Under Noisy Control
نویسندگان
چکیده
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N -member swarm of agents in a modified consensus problem wherein the connectivity of agents is governed by probabilistic functions. The addition of a random walk control ensures Lyapunov stability of the swarm consensus. Simulation results are given and planned experiments are described.
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ورودعنوان ژورنال:
- CoRR
دوره abs/1010.4999 شماره
صفحات -
تاریخ انتشار 2010