Dynamic coordinated control laws in multiple agent models
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Abstract: We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in cite{JK04}, gives rise to spontaneous collective organization of agents into a unified coherent swarm, via a long-range attractive and short-range repulsive potential. We extend these results by presenting control laws whereby a single swarm is broken into independently functioning subswarm clusters. The transition between one coordinated swarm and multiple clustered subswarms is managed simply with a homotopy parameter. Additionally, we present as an alternate formulation, a local control law for the same model, which implements dynamic barrier avoidance behavior, and in which swarm coherence emerges spontaneously.
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Cited in
(13)- Dynamic coordination among heterogeneous agents
- Dynamics of prey-flock escaping behavior in response to predator's attack
- Particle swarm control
- Subsidy-Based Control of Heterogeneous Multiagent Systems Modeled by Replicator Dynamics
- Coordination of Multi-agent Systems Using Adaptive Velocity Strategy
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