An analysis of dissipation functions in swarming systems

Derek J. Bennet, J.D. Biggs, C.R. McInnes, M. Macdonald

Research output: Contribution to conferencePaper

Abstract

Swarms of multiple, autonomous mobile agents have been shown to have advantages over single agent systems such as scalability, robustness and flexibility. This paper considers swarm pattern control using a generic artificial potential field and a range of dissipation control terms. An investigation of a number of dissipation terms to induce different swarm behaviours is undertaken. In addition, a novel dissipation control term is introduced based on time-delay feedback control. It is shown that a delayed dissipation term can induce vortex formations without knowledge of relative velocities. Finally, a stability analysis is undertaken that verifies swarm behaviour in a subset of these cases.

Conference

Conference18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010
CityNara, Japan
Period6/09/1010/09/10

Fingerprint

Swarm
Dissipation
Term
Mobile agents
Artificial Potential Field
Feedback control
Scalability
Agent Systems
Autonomous Agents
Time delay
Mobile Agent
Vortex flow
Feedback Control
Vortex
Stability Analysis
Time Delay
Flexibility
Verify
Robustness
Subset

Keywords

  • swarming
  • artificial potential field
  • dissipation control
  • time-delay feedback control

Cite this

Bennet, D. J., Biggs, J. D., McInnes, C. R., & Macdonald, M. (2010). An analysis of dissipation functions in swarming systems. Paper presented at 18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010, Nara, Japan, .
Bennet, Derek J. ; Biggs, J.D. ; McInnes, C.R. ; Macdonald, M. / An analysis of dissipation functions in swarming systems. Paper presented at 18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010, Nara, Japan, .
@conference{d2f1d5f70f254f41abe38cd69428c687,
title = "An analysis of dissipation functions in swarming systems",
abstract = "Swarms of multiple, autonomous mobile agents have been shown to have advantages over single agent systems such as scalability, robustness and flexibility. This paper considers swarm pattern control using a generic artificial potential field and a range of dissipation control terms. An investigation of a number of dissipation terms to induce different swarm behaviours is undertaken. In addition, a novel dissipation control term is introduced based on time-delay feedback control. It is shown that a delayed dissipation term can induce vortex formations without knowledge of relative velocities. Finally, a stability analysis is undertaken that verifies swarm behaviour in a subset of these cases.",
keywords = "swarming, artificial potential field, dissipation control, time-delay feedback control",
author = "Bennet, {Derek J.} and J.D. Biggs and C.R. McInnes and M. Macdonald",
year = "2010",
month = "9",
day = "6",
language = "English",
note = "18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010 ; Conference date: 06-09-2010 Through 10-09-2010",

}

Bennet, DJ, Biggs, JD, McInnes, CR & Macdonald, M 2010, 'An analysis of dissipation functions in swarming systems' Paper presented at 18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010, Nara, Japan, 6/09/10 - 10/09/10, .

An analysis of dissipation functions in swarming systems. / Bennet, Derek J.; Biggs, J.D.; McInnes, C.R.; Macdonald, M.

2010. Paper presented at 18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010, Nara, Japan, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - An analysis of dissipation functions in swarming systems

AU - Bennet, Derek J.

AU - Biggs, J.D.

AU - McInnes, C.R.

AU - Macdonald, M.

PY - 2010/9/6

Y1 - 2010/9/6

N2 - Swarms of multiple, autonomous mobile agents have been shown to have advantages over single agent systems such as scalability, robustness and flexibility. This paper considers swarm pattern control using a generic artificial potential field and a range of dissipation control terms. An investigation of a number of dissipation terms to induce different swarm behaviours is undertaken. In addition, a novel dissipation control term is introduced based on time-delay feedback control. It is shown that a delayed dissipation term can induce vortex formations without knowledge of relative velocities. Finally, a stability analysis is undertaken that verifies swarm behaviour in a subset of these cases.

AB - Swarms of multiple, autonomous mobile agents have been shown to have advantages over single agent systems such as scalability, robustness and flexibility. This paper considers swarm pattern control using a generic artificial potential field and a range of dissipation control terms. An investigation of a number of dissipation terms to induce different swarm behaviours is undertaken. In addition, a novel dissipation control term is introduced based on time-delay feedback control. It is shown that a delayed dissipation term can induce vortex formations without knowledge of relative velocities. Finally, a stability analysis is undertaken that verifies swarm behaviour in a subset of these cases.

KW - swarming

KW - artificial potential field

KW - dissipation control

KW - time-delay feedback control

M3 - Paper

ER -

Bennet DJ, Biggs JD, McInnes CR, Macdonald M. An analysis of dissipation functions in swarming systems. 2010. Paper presented at 18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010, Nara, Japan, .