On Stochastic Broadcast Control of Swarms

详细信息    查看全文

• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9882
• 期：1
• 页码：257-264
• 全文大小：234 KB
• 参考文献：1.Azuma, S., Yoshimura, R., Sugie, T.: Broadcast control of multi-agent systems. Automatica 49, 2307–2316 (2013)MathSciNet CrossRef
  2.Bellaiche, L.I., Bruckstein, A.: Continuous time gathering of agents with limited visibility and bearing-only sensing. arXiv (2015)
  3.Dimarogonas, D.V., Gustavi, T., Egerstedt, M., Hui, X.: On the number of leaders needed to ensure connectivity. In: Proceedings of the 47th IEEE Conference on Decision and Control (2008)
  4.Gustavi, T., Dimarogonas, D.V., Egerstedt, M., Hui, X.: On the number of leaders needed to ensure connectivity in arbitrary dimensions. In: 17th Mediteranean Conference on Control and Automation (2009)
  5.Han, J., Li, M., Guo, L.: Soft control on collective behavior of a group of autonomous agents by a shill agent. J. Syst. Sci. Compexity 19, 54–62 (2006)MathSciNet CrossRef
  6.Han, J., Wang, L.: Nondestructive intervention to multiagent systems through an inteligent agent. PLoS ONE 8(5), e61542 (2013)CrossRef
  7.Kailath, T.: Linear Systems. Prentice Hall, Upper Saddle River (1980)MATH
  8.Rahmani, A., Mesbahi, M.: On the controlled agreement problem. In: Proceedings of the American control Conference (2006)
  9.Rahmani, A., Mesbahi, M.: Pulling the strings on agreement: anchoring, controllability, and graph automorphisms. In: Proceedings of the 2007 American Control Conference (2007)
  10.Segall, I., Bruckstein, A.: On stochastic broadcast control of multi-agent swarms. arXiv (2016)
  11.Tanneri, H.G.: On the controllability of nearest neighbor interconnections. In: 43rd Conference on Decision and Control (2004)
  
• 作者单位：Ilana Segall (20)
  Alfred Bruckstein (20)
  
  20. Technion, Israel Institute of Technology, Haifa, Israel
  
• 丛书名：Swarm Intelligence
• ISBN：978-3-319-44427-7
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9882

文摘

We present a model for controlling swarms of mobile agents via a broadcast control, detected by a random number of agents in the swarm. The agents that detect the control signal become the ad-hoc leaders of the swarm, while they detect the exogenous control. The agents are assumed to be velocity controlled, identical, anonymous, oblivious units with unlimited visibility. Assuming unlimited visibility decouples the problem of emergent behavior in a swarm from that of keeping the visibility graph complete, which has been thoroughly discussed in [10]. Each agent applies a linear local gathering control, based on the relative position of its neighbors. The detected exogenous control is superimposed by the leaders on the local gathering control. We show that in each time interval of a piecewise constant system, where the system evolves as a time-independent dynamic linear system, the swarm asymptotically aligns on a line in the direction of the exogenous control and all the agents move with identical speed. The speed of the swarm is set by the ratio between the numbers of agents receiving the control signal and the total number of agents in the swarm. A new time interval is triggered by a change in the broadcast control signal or in the agents detecting it, i.e. the “leadership team”.