Browsing by Subject "Engineering, Mechanical"

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    On the stability of swarm consensus under noisy control
    (ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011, 2011-12-01) Rogers, B; Fricke, GK; Garg, DP
    Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a modified consensus problem wherein the connectivity of agents is governed by probabilistic functions. The addition of a random walk control ensures ε-stability of the swarm consensus. Simulation results are given to show the rate of convergence to consensus and planned experiments are described. Copyright © 2011 by ASME.