DocumentCode
390980
Title
A class of attraction/repulsion functions for stable swarm aggregations
Author
Gazi, Veysel ; Passino, Kevin M.
Author_Institution
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Volume
3
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
2842
Abstract
In this article, for an M-member "individual-based" continuous time swarm model in an n-dimensional space, we extend our previous results (2002) by specifying a general class of attraction/repulsion functions that can be used to achieve swarm aggregation. These functions are odd functions that have terms for attraction and repulsion acting in opposite directions in compliance with real biological swarms. We present a stability analysis for several cases of the functions considered to characterize the swarm cohesiveness, size, and ultimate motions while in a cohesive group.
Keywords
multi-agent systems; stability; attraction repulsion functions; continuous time swarm model; multiagent system; multidimensional space; stability analysis; stable swarm aggregations; swarm cohesion analysis; Asymptotic stability; Automotive engineering; Biological system modeling; Convergence; Delay effects; Distributed control; Lyapunov method; Mathematical model; Robots; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184277
Filename
1184277
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