Flocking for multi-agent dynamic systems: Algorithms and theory

IEEE Transactions on Automatic Control

Volumn 51, Issue 3, 2006, Pages 401-420

  Olfati Saber, Reza ^a  

^a DARTMOUTH COLLEGE   (United States)

Author keywords

Consensus theory; Distributed control; Dynamic graphs; Mobile sensor networks; Networked autonomous vehicles; Self assembly of networks; Self organizing systems; Swarms

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DISTRIBUTED PARAMETER CONTROL SYSTEMS; GRAPHIC METHODS; LYAPUNOV METHODS; SYSTEM STABILITY;

CONCSENSUS THEORY; DISTRIBUTED CONTROL; DYNAMIC GRAPHS; FLOCKING; MOBILE SENSOR NETWORKS; MULTI-AGENT DYNAMIC SYSTEMS; NETWORKED AUTONOMOUS VEHICLES; SELF-ASSEMBLY OF NETWORKS; SELF-ORGANIZING SYSTEMS; SWARMS;

MULTI AGENT SYSTEMS;

EID: 33644997478     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2005.864190     Document Type: Article

References (53)

1. E. Shaw, "Fish in schools," Natural History, vol. 84, no. 8, pp. 40-15, 1975.
2. B. L. Partridge, "The chorus-line hypothesis of maneuver in avian flocks," Nature, vol. 309, pp. 344-345, 1984.
3. B. L. Partridge, "The structure and function of fish schools," Sci. Amer., vol. 246, no. 6, pp. 114-123, 1982.
4. A. Okubo, "Dynamical aspects of animal grouping: Swarms, schools, flocks. and herds," Adv. Biophys., vol. 22, pp. 1-94, 1986.
5. C. W. Reynolds, "Flocks, herds, and schools: A distributed behavioral model," in Comput. Graph. (ACM SIGGRAPH'87 Conf. Proc.), vol. 21, Jul. 1987, pp. 25-34.
6. T. Vicsek, A. Cziroók, E. Ben-Jacob, I. Cohen, and O. Shochet, "Novel type of phase transition in a system of self-deriven particles," Phys. Rev. Lett., vol. 75, no. 6, pp. 1226-1229, 1995.
7. J. Toner and Y. Tu, "Flocks, herds, and schools: A quantitative theory of flocking," Phys. Rev. E, vol. 58, no. 4, pp. 4828-4858, Oct. 1998.
8. N. Shimoyama, K. Sugawara, T. Mizuguchi, Y. Hayakawa, and M. Sano, "Collective motion in a system of motile elements," Phys. Rev. Lett., vol. 76, no. 20, pp. 3870-3873, 1996.
9. A. Mogilner and L. Edelstein-Keshet, "A nonlocal model for a swarm," J. Math. Biol., vol. 38, pp. 534-570, 1999.
10. D. Helbing, I. Farkas, and T. Vicsek, "Simulating dynamical features of escape panic," Nature, vol. 407, pp. 487-490, 2000.
11. T. Vicsek, "A question of scale," Nature, vol. 411, pp. 421-421, May 2001.
12. J. K. Parrish, S. V. Viscido, and D. Grunbaum, "Self-organized fish schools: An examination of emergent properties," Biol. Bull., vol. 202, pp. 296-305, 2002.
13. D. Estrin, R. Govindan, J. Heidemann, and S. Kumar, "Next century challenges: Scalable coordination in sensor networks," Proc. Mobile Comput. Network, pp. 263-270, 1999.
14. I. Akyildiz, W. Su, Y. Sankarasubramniam, and E. Cayirci, "A survey on sensor networks," IEEE Commun. Mag., no. 8, pp. 102-114, Aug. 2002.
15. J. Cortes and F. Bullo, "Coordination and geometric optimization via distributed dynamical systems," SIAM J. Control Optim., no. 5, pp. 1543-1574, May 2005.
16. R. Olfati-Saber, "Distributed Kalman filter with embedded consensus filters," in Proc. 44th IEEE Conf. Decision and Control and Eur. Control Conf., Dec. 2005, pp. 8179-8184.
17. H. Levine, W.-J. Rappel, and I. Cohen, "Self-organization in systems of self-propelled particles," Phys. Rev. E, vol. 63, p. 017 101, 2001.
18. A. Mogilner and L. Edelstein-Keshet, "Spatio-temporal order in populations of self-aligning objects: Formation of oriented patches," Physica D, vol. 89, pp. 346-367, 1996.
19. C. M. Topaz and A. L. Bertozzi, "Swarming patterns in a two-dimensional kinematic model for biological groups," SIAM J. Appl. Math., May 2004.
20. R. O. Saber and R. M. Murray, "Consensus protocols for networks of dynamic agents," in Proc. Amer. Control Conf., vol. 2, Jun. 2003, pp. 951-956.
21. R. Olfati-Saber and R. M. Murray, "Consensus problems in networks of agents with switching topology and time-delays," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1520-1533, Sep. 2004.
22. A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile agents using nearest neighbor rules," IEEE Trans. Autom. Control, vol. 48, no. 6, pp. 988-1001, Jun. 2003.
23. L. Moreau, "Stability of multiagent systems with time-dependent communication links," IEEE Trans. Autom. Control, vol. 50, no. 2, pp. 169-182, Feb. 2005.
24. W. Ren and R. W. Beard, "Consensus seeking in multiagent systems under dynamically changing interaction topologies," IEEE Trans. Autom. Control, vol. 50, no. 5, pp. 655-661, May 2005.
25. R. Olfati-Saber, A. Fax, and R. M. Murray, "Consensus and cooperation in multi-agent networked systems," Proc. IEEE, http:// engineering.dart-mouth.edu/~olfati/papers/olfati-saber-piece.pdf, 2006, submitted for publication.
26. Y. Liu, K. M. Passino, and M. M. Polycarpou, "Stability analysis of M-dimensional asynchronous swarms with a fixed communication topology," IEEE Trans. Autom. Control, vol. 48, no. 1, pp. 76-95, Jan. 2003.
27. E. W. Justh and P. S. Krishnaprasad, "A simple control law for UAV formation flying," Inst. Syst. Res., Univ. Maryland, College Park, MD, Tech. Rep. 2002-38, 2002.
28. V. Gazi and K. M. Passino, "Stability analysis of swarms," IEEE Trans. Autom. Control, vol. 48, no. 4, pp. 692-697, Apr. 2003.
29. H. G. Tanner, A. Jadbabaie, and G. J. Pappas, "Stable flocking of mobile agents Part II: Dynamic topology," in Proc. 42nd IEEE Conf. Decision and Control, Dec. 2003, pp. 2016-2021.
30. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1465-1476, Sep. 2004.
31. M. Mesbahi, "State-dependent graphs," in Proc. 42nd IEEE Conf. Decision and Control, vol. 3, Dec. 2003, pp. 3058-3063.
32. M. Mesbahi, "On state-dependent dynamic graphs and their controllability properties," IEEE Trans. Autom. Control, vol. 50, no. 3, pp. 387-392, Mar. 2005.
33. J. Cortes, S. Martinez, T. Karatas, and F. Bullo, "Coverage control for mobile sensing networks," IEEE Trans. Robot. Automat., vol. 20, no. 2, pp. 243-255, Apr. 2004.
34. G. Ribichini and E. Frazzoli, "Efficient coordination of multiple-aircraft systems," in Proc. 42nd IEEE Conf. Decision and Control, vol. 1, Dec. 2003, pp. 1035-1040.
35. N. E. Leonard and E. Fiorelli, "Virtual leaders, artificial potentials, and coordinated control of groups," in Proc. 40th IEEE Conf. Decision and Control, 2001, pp. 2968-2973.
36. R. Olfati-Saber and R. M. Murray, "Distibuted cooperative control of multiple vehicle formations using structural potential functions," presented at the Proc. 15th IFAC World Congr., Barcelona, Spain, Jun. 2002.
37. P. Ögren, E. Fiorelli, and N. E. Leonard, "Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment," IEEE Trans. Autom. Control, vol. 49, no. 8, pp. 1292-1302, Apr. 2005.
38. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," Int. J. Robot. Res., vol. 5, no. 1, pp. 90-98, 1986.
39. E. Rimon and D. E. Koditschek, "Exact robot navigation using artificial potential functions," IEEE Trans. Robot. Automat., vol. 8, no. 5, pp. 501-518, Oct. 1992.
40. S. H. Strogatz, "Exploring complex networks," Nature, vol. 410, pp. 268-276, 2001.
41. R. Olfati-Saber, "Ultrafast consensus in small-world networks," in Proc. Amer. Control Conf., Jun. 2005, pp. 2371-2378.
42. D. E. Chang, S. Shadden, J. Marsden, and R. Olfati-Saber, "Collision avoidance for multiple agent systems," in Proc. 42nd IEEE Conf. Decision and Control, vol. 1, Dec. 2003, pp. 539-543.
43. R. Olfati-Saber, "Flocking with obstacle avoidance," California Inst. Technol., Control Dyna. Syst., Pasadena, CA, Tech. Rep. 2003-006, Feb. 2003.
44. R. O. Saber and R. M. Murray, "Flocking with obstacle avoidance: Cooperation with limited communication in mobile networks," in Proc. 42nd IEEE Conf. Decision and Control, vol. 2, Dec. 2003, pp. 2022-2028.
45. B. Bollobás, Modern Graph Theory, Vol. 184 of Graduate Texts in Mathematics. New York: Springer-Verlag, 1998.
46. R. Diestel, Graph Theory, Vol. 173 of Graduate Texts in Mathematics. New York: Springer-Verlag, 2000.
47. R. A. Horn and C. R. Johnson, Matrix Analysis. Cambridge, U.K.: Cambridge Univ. Press, 1987.
48. C. Godsil and G. Royle, Algebraic Graph Theory, Vol. 207 of Graduate Texts in Mathematics. New York: Springer-Verlag, 2001.
49. E. Klavins, "Communication complexity of multi-robot systems," in Algorithmic Foundations of Robotics V. ser. Springer Tracts in Advanced Robotics, J.-D. Boissonnats, J. Burdik, K. Goldberg, and S. Huchinson, Eds. Budapest, Hungary: Springer, Dec. 2003, vol. 7, pp. 275-292.
50. M. Fiedler, "Algebraic connectivity of graphs," Czech. Math. J., vol. 23, no. 98, pp. 298-305, 1973.
51. R. Olfati-Saber, "Flocking for multi-agent dynamic systems: Algorithms and theory," California Inst. Technol., Control Dyna. Syst., Pasadena, CA, Tech. Rep. 2004-005, http://caltechcdstr.library. caltech.edu/43/, Jun. 2004.
52. B. L. Partridge, "Rigid definitions of schooling behavior are inadequate," Animal Behavior, vol. 30, pp. 298-299, Feb. 1982.
53. M. R. D'Orsogna, Y.-L. Chuang, A. L. Bertozzi, and L. Chayes, "Self-propelled particles with soft-core interactions: Patterns, stability, and collapse," Phys. Rev. Lett., vol. 96, Mar. 2006, to be published.