Flocking in Fixed and Switching Networks

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General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
algebraic graph theory
cooperative control
multiagent systems
nonsmooth systems
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Tanner, Herbert G
Jadbabaie, Ali
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This note analyzes the stability properties of a group of mobile agents that align their velocity vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor interaction rules, exchanging information over networks that change arbitrarily (no dwell time between consecutive switches). These changes introduce discontinuities in the agent control laws. To accommodate for arbitrary switching in the topology of the network of agent interactions we employ nonsmooth analysis. The main result is that regardless of switching, convergence to a common velocity vector and stabilization of inter-agent distances is still guaranteed as long as the network remains connected at all times.

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2007-05-01
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Copyright 2007 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 52, Issue 5, May 2007, pages 863-868. Publisher URL: http://dx.doi.org/10.1109/TAC.2007.895948 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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