DocumentCode
3175611
Title
Control and Analysis of Energetic Swarm Systems
Author
Pedrami, R. ; Gordon, B.W.
Author_Institution
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC
fYear
2007
fDate
9-13 July 2007
Firstpage
1894
Lastpage
1899
Abstract
In this paper, an M-member continuous-time swarm problem is investigated considering the swarm bulk kinetic energy and internal kinetic energy. The motion of each individual is determined by an external input, a velocity damping term, and attraction/repulsion from the other individuals. A swarm temperature variable is defined to study the internal kinetic energy properties of the swarm. A controller is developed such that the swarm center can follow any desired trajectory with different corresponding swarm temperatures. Simulation is used to validate the results and provide more insight into the problem of swarm cohesion.
Keywords
continuous time systems; multi-robot systems; robot dynamics; continuous-time swarm problem; energetic swarm systems; internal kinetic energy; swarm bulk kinetic energy; Biological system modeling; Cities and towns; Control system analysis; Control systems; Kinematics; Kinetic energy; Stability; Temperature control; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2007. ACC '07
Conference_Location
New York, NY
ISSN
0743-1619
Print_ISBN
1-4244-0988-8
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2007.4283095
Filename
4283095
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