Title :
Coordinated collective motion of Groups of autonomous mobile robots: analysis of Vicsek´s model
Author :
Savkin, Andrey V.
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
fDate :
6/1/2004 12:00:00 AM
Abstract :
This note gives a qualitative analysis of the dynamics of a system consisting of several mobile robots coordinating their motion using simple local nearest neighbor rules. We show that under some assumptions the headings of all robots will be eventually constant.
Keywords :
decentralised control; mobile robots; motion control; multi-robot systems; robot dynamics; autonomous mobile robots; coordinated collective motion; decentralized control; local nearest neighbor rules; multirobot system; qualitative analysis; Communication networks; Communication system control; Communication system traffic control; Heuristic algorithms; Internet; Mobile robots; Motion analysis; Robot kinematics; Stability; Telecommunication control; Decentralized control; groups of autonomous vehicles; multiagent coordination; multirobot system; robot formation control;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2004.829621
