On the stability of swarm consensus under noisy control

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2011-12-01

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Abstract

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.

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10.1115/DSCC2011-6061

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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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Rogers

Bruce W Rogers

Assistant Professor in Surgery

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