Title :
Coordinated collective motion of groups of autonomous mobile robots: analysis of Vicsek´s model
Author :
Savkin, Andrey V.
Author_Institution :
Sch. of Electr. Eng. & Telecommun., New South Wales Univ., Sydney, NSW, Australia
Abstract :
The paper gives a mathematically rigorous qualitative analysis of the dynamics of a system consisting of several mobile robots coordinating their motion using simple local nearest neighbor rules. We show that under some assumptions the headings of all robots are eventually constant.
Keywords :
cooperative systems; discrete time systems; mobile robots; multi-robot systems; path planning; robot dynamics; autonomous mobile robots; coordinated collective motion; local nearest neighbor rules; Animals; Australia; Autonomous agents; Centralized control; Distributed control; Mathematical model; Mobile robots; Motion analysis; Nearest neighbor searches; Robot kinematics;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1273095
