A general alignment repulsion algorithm for flocking of multi-agent systems

Title: A general alignment repulsion algorithm for flocking of multi-agent systems
Creator: Zhang, Hai-Tao; Zhai, Chao; Chen, Zhiyong
Relation: ARC.DP0878724
Relation: IEEE Transactions on Automatic Control Vol. 56, Issue 2, p. 430-435
Publisher Link: http://dx.doi.org/10.1109/TAC.2010.2089652
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2011
Description: A novel individual-based alignment/repulsion algorithm is proposed in this note for a flock of multiple agents. With this algorithm, each individual repels its sufficiently close neighbors and aligns to the average velocity of its neighbors with moderate distances. In both mathematical analysis and numerical simulation, we prove that the algorithm guarantees an uncrowded flocking behavior with asymptotic velocity synchronization when sufficiently intensive communication exists within the agents. Moreover, we provide the conditions for collision avoidance along the whole transient procedure. The proposed flocking model has its references in natural collective behaviors like escaping panic and traffic jam motions.
Subject: alignment repulsion algorithm; asymptotic velocity synchronization; collision avoidance; flocking behavior; mathematical analysis; multi-agent system; numerical simulation
Identifier: http://hdl.handle.net/1959.13/1065775
Identifier: uon:17947
Identifier: ISSN:0018-9286
Language: eng
Reviewed

		Thumbnail	File	Description	Size	Format