Stability analysis of stochastically varying formations of dynamic agents

Author

Gupta, Vijay ; Hassibi, Babak ; Murray, Richard M.

Author_Institution

Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA

Volume

1

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

504

Abstract

We analyze a network of dynamic agents where the topology of the network specifies the information flow between the agents. We present an analysis method for such a system for both consensus and formation stabilization problems. To consider the general features introduced by the information flow topology, we consider the case of agent dynamics being a single integrator. Then we show that the method of analysis can be extended to more general cases of complicated agent dynamics, non-ideal links for information flow, etc. We also consider the case when the topology of the network is changing over time. The focus of the paper is on obtaining conditions for the stability of the formation that can be checked in a decentralized way.

Keywords

multi-agent systems; network topology; stability; stochastic processes; agent dynamics; dynamic agents; information flow topology; integrator; network topology; stability analysis; stochastically varying formations; Air traffic control; Autonomous agents; Control theory; Information analysis; Internet; Network topology; Robot kinematics; Satellites; Stability analysis; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1272613

Filename

1272613