On the stability of swarm consensus under noisy control
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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.
Published Version (Please cite this version)
Rogers, B, GK Fricke and DP Garg (2011). 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, 1. pp. 291–298. 10.1115/DSCC2011-6061 Retrieved from https://hdl.handle.net/10161/26518.
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