Title :
Swarm Dynamics and Coordinated Control
Author :
Tianguang, Chu ; Zhifu, Chen ; Long, Wang ; Guangming, Xie
Author_Institution :
Peking Univ., Beijing
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;
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
DOI :
10.1109/CHICC.2006.4347560
