Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/6052
Title: A class of attractions/repulsion functions for stable swarm aggregations
Authors: Gazi, Veysel
Passino, Kevin M.
Keywords: [No Keywords]
Issue Date: 2004
Publisher: Taylor & Francis Ltd
Abstract: In this brief article, we consider an M-member 'individual-based' continuous time swarm model in an n-dimensional space and extend the results in Gazi and Passino (2003) by specifying a general class of attraction/repulsion functions that can be used to achieve swarm aggregation. These functions are odd functions that have terms for attraction and repulsion acting in opposite directions in compliance with real biological swarms. We present stability analysis for several cases of the functions considered to characterize swarm cohesiveness, size and ultimate motions while in a cohesive group. Moreover, we show how the model can be extended for achieving formation control. Furthermore, we discuss how the attraction repulsion functions can be modified to incorporate the finite body size of the swarm members. Numerical simulations are also presented for illustration purposes.
URI: https://doi.org/10.1080/00207170412331330021
https://hdl.handle.net/20.500.11851/6052
ISSN: 0020-7179
1366-5820
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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