Swarm Dynamics and Coordinated Control

Author

Tianguang, Chu ; Zhifu, Chen ; Long, Wang ; Guangming, Xie

Author_Institution

Peking Univ., Beijing

fYear

2007

Firstpage

611

Lastpage

615

Abstract

Swarming behavior is ubiquitous in nature and society. It is of both theoretical and practical importance to investigate the underlying principles and mechanism of coordination and cooperation emerging in swarms. This paper discusses the basic issues in this direction in the field of systems and control. We review some swam models commonly studied in the literature, analyze the roles and effects of connection topology on swarm dynamics, as well as the effects of variable topologies, communication delays, and exogenous influences etc. We also give some numerical simulation results to demonstrate complex aggregation-oscillation behavior of swarms in the cases of asymmetric coupling and delayed communication.

Keywords

multi-robot systems; robot dynamics; aggregation-oscillation behavior; asymmetric coupling; coordinated control; delayed communication; swarm dynamics; Communication system control; Control systems; Convergence; Delay effects; Educational institutions; Intelligent control; Laboratories; Numerical simulation; Particle swarm optimization; Topology; Swarming behavior; collective oscillation; communication delay; connection topology; convergence; coordinated control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2007. CCC 2007. Chinese

Conference_Location

Hunan

Print_ISBN

978-7-81124-055-9

Electronic_ISBN

978-7-900719-22-5

Type

conf

DOI

10.1109/CHICC.2006.4347560

Filename

4347560