On the Stability of Swarm Consensus Under Noisy Control
Adaptation and Self-Organizing Systems
2010-10-26 v1 Multiagent Systems
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 Lyapunov stability of the swarm consensus. Simulation results are given and planned experiments are described.
Keywords
Cite
@article{arxiv.1010.4999,
title = {On the Stability of Swarm Consensus Under Noisy Control},
author = {Gregory K. Fricke and Bruce W. Rogers and Devendra P. Garg},
journal= {arXiv preprint arXiv:1010.4999},
year = {2010}
}