Collective behavior of mobile agents with state-dependent interactions

被引：15

作者：

Zhu, Shanying ^{[1
,2
,3
]}

Xie, Lihua ^{[1
]}

Chen, Cailian ^{[2
,3
]}

Guan, Xinping ^{[2
,3
]}

机构：

[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Ctr E City, EXQUISITUS, Singapore 539798, Singapore

[2] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

[3] Minist Educ China, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China

来源：

AUTOMATICA | 2015年 / 51卷

关键词：

Multi-agent systems; Distributed control; Collective motion; Topological distance; Discontinuous control; Continuous time systems; MULTIAGENT SYSTEMS; COORDINATION; FLOCKING; STABILITY; MOTION; SWARMS;

D O I：

10.1016/j.automatica.2014.10.064

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we develop a novel self-propelled particle model to describe the emergent behavior of a group of mobile agents. Each agent coordinates with its neighbors through a local force accounting for velocity alignment and collision avoidance. The interactions between agents are governed by path loss influence and state-dependent rules, which results in topology changes as well as discontinuities in the local forces. By using differential inclusion technique and algebraic graph theory, we show that collective behavior emerges while collisions between agents can be avoided, if the interaction topology is jointly connected. A trade-off between the path loss influence and connectivity condition to guarantee the collective behavior is discovered and discussed. Numerical simulations are given to validate the theoretical results. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：394 / 401

页数：8

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