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.
- Dynamic Systems and Control Division
On the Stability of Swarm Consensus Under Noisy Control
Rogers, B, Fricke, GK, & Garg, DP. "On the Stability of Swarm Consensus Under Noisy Control." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 291-298. ASME. https://doi.org/10.1115/DSCC2011-6061
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