Aggregation stability of multiple agents with fuzzy attraction and repulsion forces

Author

Le Hung Lan ; Le Thi Thuy Nga ; Le Hong Lan

Author_Institution

Dept. of Cybern., Univ. of Transp. & Commun., Hanoi, Vietnam

fYear

2013

fDate

26-29 Aug. 2013

Firstpage

81

Lastpage

85

Abstract

The swarm behaviors of multi agent is a popular topic and has significant interest and application in industrial engineering, such as multi-robot team and autonomous air vehicle. Many studies have been done on modeling and describing swarm aggregation as well as analyzing its stability properties. This study provides a novel contribution by using Fuzzy Logic and simple Mamdani rules for constructing the attraction/repulsion function. It shows that the agents of multi-agents in indirect communications network will asymptotically form a cohesive cluster in predicted bounded region. A numerical simulation is also given to illustrate the theoretical results.

Keywords

fuzzy logic; multi-robot systems; stability; Mamdani rules; aggregation stability; attraction-repulsion function; autonomous air vehicle; cohesive cluster; fuzzy attraction force; fuzzy logic; fuzzy repulsion force; indirect communications network; multiagents; multiple agents; multirobot team; numerical simulation; predicted bounded region; swarm behaviors; Algorithm design and analysis; Couplings; Force; Fuzzy logic; Fuzzy systems; Stability analysis; Symmetric matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4673-5506-3

Type

conf

DOI

10.1109/MMAR.2013.6669885

Filename

6669885