• DocumentCode
    2466667
  • Title

    Cohesive Swarming under Consensus

  • Author

    Lemmon, Michael D. ; Sun, Yashan

  • Author_Institution
    Dept. of Electr. Eng., Notre Dame Univ., IN
  • fYear
    2006
  • fDate
    13-15 Dec. 2006
  • Firstpage
    5091
  • Lastpage
    5096
  • Abstract
    This paper studies the cohesion of multi-agent swarms moving under the control of a consensus filter. This paper´s main result shows that swarming under consensus is cohesive. We establish specific bounds on the degree of cohesion and consensus as a function of the attraction/repulsion fields, swarm size, and connectivity in the communication network
  • Keywords
    multi-robot systems; cohesive swarming; communication network; consensus filter; multiagent swarms; Chemicals; Communication networks; Communication system control; Filters; Mobile robots; Remotely operated vehicles; Spread spectrum communication; Sun; USA Councils; Vehicle dynamics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2006 45th IEEE Conference on
  • Conference_Location
    San Diego, CA
  • Print_ISBN
    1-4244-0171-2
  • Type

    conf

  • DOI
    10.1109/CDC.2006.377522
  • Filename
    4177173
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2466667