Stable Flocking of Mobile Agents, Part I: Fixed Topology

Proceedings of the IEEE Conference on Decision and Control

Volumn 2, Issue , 2003, Pages 2010-2015

  Tanner, Herbert G ^a   Jadbabaie, Ali ^b   Pappas, George J ^b  

^a University of New Mexico   (United States)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS AGENTS; COLLISION AVOIDANCE; COMPUTER AIDED DESIGN; COMPUTER SIMULATION; CONTROL THEORY; CONVERGENCE OF NUMERICAL METHODS; DEGREES OF FREEDOM (MECHANICS); ELECTRIC NETWORK TOPOLOGY; GRAPH THEORY; MOTION PLANNING; VECTORS;

CONTROL INTERCONNECTIONS; STABLE FLOCKING MOTION; TIME INVARIANCE;

MOBILE ROBOTS;

EID: 1542648889     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (37)

1. C. M. Breder. Equations descriptive of fish schools and other animal aggergations. Ecology, 35:361-370, 1954.
2. Jorge Cortes, Sonia Martinez, Timur Karatas, and Francesco Bullo. Coverage control for mobile sensing networks. IEEE Transactions on Robotics and Automation, 2002. (submitted).
3. A. Czirok, A. L. Barabasi, and T. Vicsek. Collective motion of self-propelled particles:kinetic phase transition in one dimension. Physical Review Letters, 82:209-212, 1999.
4. J. P. Desai, J. P. Ostrowski, and V. Kumar. Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 17(6):905-908, 2001.
5. M.R. Evans. Spontaneous symmetry breaking in a one dimensional driven diffusive system. Physical Review Letters, 74:208-211, 1995.
6. J. Alexander Fax and Richard M. Murray. Graph Laplacians and stabilization of vehicle formations. 15th IFAC Congress, Barcelona, Spain, 2002.
7. G. Flierl, D. Grunbaum, S. Levin, and D. Olson. From individuals to aggregations: the interplay between behavior and physics. Journal of Theoretical Biology, 196:397-454, 1999.
8. V. Gazi and K. M. Passino. Stability analysis of swarms. IEEE Transactions on Automatic Control, 48(4):692-696, April 2003.
9. C. Godsil and G. Royle. Algebraic Graph Theory. Springer Graduate Texts in Mathematics # 207, New York, 2001.
10. D. Grunbaum and A. Okubo. Modeling social animal aggregations. Frontiers in Theoretical Biology, 100 of Lecture Notes in Biomathematics:296-325, 1994.
11. http://www.red3d.com/cwr/boids/.
12. A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6):988-1001, July 2002.
13. E.W. Justh and P.S. Krishnaprasad. A simple control law for UAV formation flying. Technical Report 2002-38, Institute for Systems Research, 2002.
14. M. Kardar, G. Parisi, and Y.-C. Zhang. Dynamic scaling of growing interfaces. Physical Review Letters, 56:889-892, 1986.
15. N. Leonard and E. Friorelli. Virtual leaders, artificial potentials and coordinated control of groups. IEEE Conference on Decision and Control, 2001.
16. H. Levine and W. J. Rappel. Self organization in systems of self-propelled particles. Physical Review E, 63:208-211, 2001.
17. Y. Liu, K. M. Passino, and M. M. Polycarpou. Stability analysis of m-dimensional asynchronous swarms with a fixed communication topology. IEEE Transactions on Automatic Control, 48(1):76-95, February 2003.
18. D. J. Low. Following the crowd. Nature, 407:465-466, 2000.
19. A. S. Mikhailov and D. Zannette. Noise induced breakdown of collective coherent motion in swarms. Physical Review E, 60:4571-4575, 1999.
20. P. Ögren, M. Egerstedt, and X. Hu. A control Lyapunov function approach to multi-agent coordination. IEEE Transactions on Robotics and Automation, 18, October 2002.
21. A Okubo. Dynamical aspects of animal grouping: swarms, schools, flocks, and herds. Advances in Biophysics, 22:1-94, 1986.
22. R. Olfati and R. M. Murray. Distributed structural stabilization and tracking for formations of dynamic multi-agents. In IEEE Conference on Decision and Control, Las Vegas, NV, 2002.
23. A. Pant, P. Seiler, T. J. Koo, and K. Hedrick. Mesh stability of unmanned aerial vehicle clusters. Proceedings of the American Control Conference, 1:62-68, June 2001.
24. John H. Reif and Hongyang Wang. Social potential fields: A distributed behavioral control for autonomous robots. Robotics and Autonomous Systems, 27:171-194, 1999.
25. C. Reynolds. Flocks, birds, and schools: a distributed behavioral model. Computer Graphics, 21:25-34, 1987.
26. E. Rimon and D. Koditschek. Exact robot navigation using artificial potential functions. IEEE Transactions on Robotics and Automation, 8(5):501-518, October 1992.
27. C. P. Schenk, P Schutz, M. Bode, and H.G. Purwins. Interaction of self organized quasi particles in a two dimensional reaction-diffusion system: The formation of molecules. Physical Review E, 58:6480-6486, 1998.
28. N. Shimoyama, K. Sugawa, T. Mizuguchi, Y. Hayakawa, and M. Sano. Collective motion in a system of motile elements. Physical Review Letters, 76:3879-3873, 1996.
29. P. Tabuada, G. J. Pappas, and P. Lima. Feasible formations of multi-agent systems. In Proceedings of the American Control Conference, Arlington, VA, 2001.
30. Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas. Stable flocking of mobile agents, Part II: Dynamic topology. In Proceedings of the IEEE Conference on Decision and Control, 2003. (to appear).
31. D. Terzopoulos. Artificial life for computer graphics. Communications of the ACM, 42(8):32-42, 1999.
32. J. Toner and Y. Tu. Long range order in a two dimensional xy model: How birds fly together. Physical Review Letters, 75:4326-4329, 1995.
33. J. Toner and Y. Tu. Flocks, herds, and schools: A quantitative theory of flocking. Physical Review E., 58:4828-4858, 1998.
34. T. Vicsek. A question of scale. Nature, 411:421, May 24 2001.
35. T. Vicsek, A. Czirok, E. Ben Jacob, I. Cohen, and O. Schochet. Novel type of phase transitions in a system of self-driven particles. Physical Review Letters, 75:1226-1229, 1995.
36. R. Vidal, O. Shakernia, and S. Sastry. Distributed formation control with omnidirectional vision based motion segmentation and visual servoing. Robotics and Automation Magazine, 2003. (to appear).
37. K. Warburton and J. Lazarus. Tendency-distance models of social cohesion in animal groups. Journal of Theoretical Biology, 150:473-488, 1991.