On the stability of swarm consensus under noisy control
Publication
, Journal Article
Rogers, B; Fricke, GK; Garg, DP
Published in: ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011
December 1, 2011
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.
Duke Scholars
Published In
ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011
DOI
Publication Date
December 1, 2011
Volume
1
Start / End Page
291 / 298
Citation
APA
Chicago
ICMJE
MLA
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Rogers, B., Fricke, G. K., & Garg, D. P. (2011). On the stability of swarm consensus under noisy control. ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011, 1, 291–298. https://doi.org/10.1115/DSCC2011-6061
Rogers, B., G. K. Fricke, and D. P. Garg. “On the stability of swarm consensus under noisy control.” ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011 1 (December 1, 2011): 291–98. https://doi.org/10.1115/DSCC2011-6061.
Rogers B, Fricke GK, Garg DP. On the stability of swarm consensus under noisy control. ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011. 2011 Dec 1;1:291–8.
Rogers, B., et al. “On the stability of swarm consensus under noisy control.” ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011, vol. 1, Dec. 2011, pp. 291–98. Scopus, doi:10.1115/DSCC2011-6061.
Rogers B, Fricke GK, Garg DP. On the stability of swarm consensus under noisy control. ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011. 2011 Dec 1;1:291–298.
Published In
ASME 2011 Dynamic Systems and Control Conference and Bath ASME Symposium on Fluid Power and Motion Control Dscc 2011
DOI
Publication Date
December 1, 2011
Volume
1
Start / End Page
291 / 298