Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/7500
Title: Stability of a one-dimensional discrete-time asynchronous swarm
Authors: Gazi, Veysel
Passino, Kevin M.
Keywords: aggregation
asynchronous motion
cooperative coordination and control
multiagent systems
swarms
Issue Date: 2005
Publisher: IEEE-Inst Electrical Electronics Engineers Inc
Abstract: In this correspondence, we consider a discrete time one-dimensional asynchronous swarm. First, we describe the mathematical model for motions of the swarm members. Then, we analyze the stability properties of that model. The stability concept that we consider, which matches exactly with stability of equilibria in control theory, characterizes stability of a particular position (relative arrangement) of the swarm members. We call that position the comfortable position (with comfortable intermember distances). Our swarm model and stability analysis are different from other asynchronous swarm models considered in the literature. In particular, in our analysis we employ results on contractive mappings from the parallel and distributed computation literature. The application of these results to the swarm coordination problem is important by itself since they might prove useful also in n-dimensional swarms.
URI: https://doi.org/10.1109/TSMCB.2005.845393
https://hdl.handle.net/20.500.11851/7500
ISSN: 1083-4419
1941-0492
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
PubMed İndeksli Yayınlar Koleksiyonu / PubMed Indexed Publications Collection
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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