Abstract
Coordinated dynamical swarm behavior occurs when certain types of animals forage for food or try to avoid predators. Analogous behaviors can occur in engineering systems such as in groups of autonomous mobile robots or air vehicles. In this paper we characterize swarm "cohesiveness" as a stability property and provide conditions under which convergence can be achieved for an asynchronous swarm with swarm members that have proximity sensors and neighbor position sensors that only provide delayed position information. Such stability analysis is fundamental to understand the coordination mechanisms for groups of autonomous vehicles or robots where inter-member communication channels are less than perfect.
Keywords
Swarm behaviourAsynchronous communicationSwarm roboticsComputer scienceStability (learning theory)Position (finance)Mobile robotConvergence (economics)RobotAnt roboticsFlocking (texture)Distributed computingArtificial intelligenceRobot controlComputer networkMachine learning
Affiliated Institutions
Related Publications
A Stochastic Algorithm for Self-Organization of Autonomous Swarms
In earlier work of the authors simulation results indicated the possibility of achieving self-organization of autonomous vehicles through Gibbs sampler-based simulated annealing...
Local Control Strategies for Groups of Mobile Autonomous Agents
The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more gene...
Stable flocking of mobile agents. I. Fixed topology
This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we gen...
Stable flocking of mobile agents. II. Dynamic topology
This is the second of a two-part paper, investigating the stability properties of a system of multiple mobile agents with double integrator dynamics. In this second part, we all...
Virtual leaders, artificial potentials and coordinated control of groups
We present a framework for coordinated and distributed control of multiple autonomous vehicles using artificial potentials and virtual leaders. Artificial potentials define inte...
Publication Info
- Year
- 2001
- Type
- article
- Pages
- 716-721 vol.2
- Citations
- 39
- Access
- Closed
External Links
Social Impact
Altmetric
PlumX Metrics
Social media, news, blog, policy document mentions
Citation Metrics
39
OpenAlex
Cite This
Yang Liu,
Kevin M. Passino,
Marios M. Polycarpou
(2001).
Stability analysis of one-dimensional asynchronous swarms.
, 716-721 vol.2.
https://doi.org/10.1109/acc.2001.945799
Identifiers
- DOI
- 10.1109/acc.2001.945799