On the stability of swarm consensus under noisy control
| dc.contributor.author | Rogers, B | |
| dc.contributor.author | Fricke, GK | |
| dc.contributor.author | Garg, DP | |
| dc.date.accessioned | 2023-02-01T14:39:07Z | |
| dc.date.available | 2023-02-01T14:39:07Z | |
| dc.date.issued | 2011-12-01 | |
| dc.date.updated | 2023-02-01T14:39:06Z | |
| dc.description.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. | |
| dc.identifier.uri | ||
| dc.language | English | |
| dc.publisher | ASMEDC | |
| dc.relation.ispartof | ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 | |
| dc.relation.isversionof | 10.1115/DSCC2011-6061 | |
| dc.subject | Science & Technology | |
| dc.subject | Technology | |
| dc.subject | Automation & Control Systems | |
| dc.subject | Engineering, Mechanical | |
| dc.subject | Engineering | |
| dc.subject | DEPENDENT DYNAMIC GRAPHS | |
| dc.subject | MULTIAGENT SYSTEMS | |
| dc.subject | CONTROLLABILITY | |
| dc.subject | STABILIZATION | |
| dc.subject | AGREEMENT | |
| dc.title | On the stability of swarm consensus under noisy control | |
| dc.type | Journal article | |
| pubs.begin-page | 291 | |
| pubs.end-page | 298 | |
| pubs.organisational-group | Duke | |
| pubs.organisational-group | School of Medicine | |
| pubs.organisational-group | Clinical Science Departments | |
| pubs.organisational-group | Surgery | |
| pubs.organisational-group | Surgery, Surgical Sciences | |
| pubs.publication-status | Published | |
| pubs.volume | 1 |