An analysis of dissipation functions in swarming systems

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

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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.
Original languageEnglish
Publication statusPublished - 6 Sep 2010
Event18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010 - Nara, Japan
Duration: 6 Sep 201010 Sep 2010

Conference

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

Keywords

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

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