Title :
Cohesive Swarming under Consensus
Author :
Lemmon, Michael D. ; Sun, Yashan
Author_Institution :
Dept. of Electr. Eng., Notre Dame Univ., IN
Abstract :
This paper studies the cohesion of multi-agent swarms moving under the control of a consensus filter. This paper´s main result shows that swarming under consensus is cohesive. We establish specific bounds on the degree of cohesion and consensus as a function of the attraction/repulsion fields, swarm size, and connectivity in the communication network
Keywords :
multi-robot systems; cohesive swarming; communication network; consensus filter; multiagent swarms; Chemicals; Communication networks; Communication system control; Filters; Mobile robots; Remotely operated vehicles; Spread spectrum communication; Sun; USA Councils; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377522
