This document considers hostile conflicts between two swarms, called pursuers and evaders, based on a double integrator model. In order to convert the marginally stable dynamics into stable-capture behavior, we introduce a control strategy based on the relative positions and velocities of opposing swarm members. To evaluate its effectiveness, a Lyapunov-based stability analysis is performed. For simplicity, this document considers swarms with equal membership strengths and equal mass only. The modeling is based on a set of suggested interaction force profiles, which are functions of local vectors. The group pursuit is conceived in two phases: the approach phase during which the two swarms act like two individuals; and the assigned pursuit phase where each pursuer is assigned to an evader.
- Dynamic Systems and Control Division
A Lyapunov Treatment of Swarm Coordination Under Conflict
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McCullough, P, Bacon, M, Olgac, N, & Sierra, DA. "A Lyapunov Treatment of Swarm Coordination Under Conflict." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 691-698. ASME. https://doi.org/10.1115/DSCC2009-2509
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