Abstract

Coordinated dynamical swarm behavior occurs when certain types of animals forage for food or try to avoid predators. Analogous behaviors can occur in engineering systems such as in groups of autonomous mobile robots or air vehicles. In this paper we characterize swarm "cohesiveness" as a stability property and provide conditions under which convergence can be achieved for an asynchronous swarm with swarm members that have proximity sensors and neighbor position sensors that only provide delayed position information. Such stability analysis is fundamental to understand the coordination mechanisms for groups of autonomous vehicles or robots where inter-member communication channels are less than perfect.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.