DocumentCode :
1256851
Title :
Cucker-Smale Flocking With Inter-Particle Bonding Forces
Author :
Park, Jaemann ; Kim, H. Jin ; Ha, Seung-Yeal
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
Volume :
55
Issue :
11
fYear :
2010
Firstpage :
2617
Lastpage :
2623
Abstract :
The Cucker-Smale (CS) flocking model is an interacting particle system, in which each particle updates its velocity by adding to it a weighted average of the differences of its velocity with those of other particles. It has been shown that by using the C-S model, the velocities of particles converge to a common value despite the absence of a central command. In this note, we make an extension of the C-S model by introducing additional interaction terms between agents which we refer to as the inter-particle bonding force, in order to incorporate collision avoidance between agents, and at the same time achieve tighter spatial configurations. The proposed inter-particle bonding force makes use of position and velocity information of other agents in order to achieve such separation and cohesion. With the inter-particle bonding forces and the velocity-alignment term of the original C-S model, we show the emergent behavior of asymptotic flocking to spatial equilibrium configurations.
Keywords :
collision avoidance; mobile robots; multi-robot systems; multivariable control systems; spatial variables control; velocity control; C-S model; Cucker-Smale flocking; asymptotic flocking; collision avoidance; interacting particle system; interparticle bonding force; particle velocity; position information; spatial configuration; spatial equilibrium configuration; velocity alignment; velocity information; weighted average; Acceleration; Bonding forces; Collision avoidance; Convergence; Energy consumption; Multiagent systems; Predictive models; Space vehicles; Sufficient conditions; Velocity control; Consensus; Cucker–Smale (C–S) model; flocking; multi-agent systems;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/TAC.2010.2061070
Filename :
5523900
Link To Document :
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