Modelling and stability analysis of emergent behavior of scalable swarm system

Abstract：In this paper we propose a two-layer emergent model for scalable swarm system. The first layer describes the individual flocking behavior to the local goal position (the center of minimal circumcircle decided by the neighbors in the positive visual set of individuals) resulting from the individual motion to one or two farthest neighbors in its positive visual set; the second layer describes the emergent aggregating swarm behavior resulting from the individual motion to its local goal position. The scale of the swarm will not be limited because only local individual information is used for modelling in the two-layer topology. We study the stability properties of the swarm emergent behavior based on Lyapunov stability theory. Simulations showed that the swarm system can converge to goal regions while maintaining cohesiveness. 作者： Author： CHEN Shi-ming[1]  FANG Hua-jing[2] 作者單位： Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;School of Electrical and Electronic Engineering, East China JiaoTong University, Nanchang 330013, ChinaDepartment of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China 期 刊： 浙江大學(xué)學(xué)報(bào)A（英文版）   ISTICEISCI Journal： JOURNAL OF ZHEJIANG UNIVERSITY SCIENCE A 年，卷(期)： 2006, 7(6) 分類號(hào)： N941 Keywords： Two-layer emergent model    Stability    Emergent behavior    Swarm    機(jī)標(biāo)分類號(hào)： TN9 TP2 機(jī)標(biāo)關(guān)鍵詞： emergent behavior    Lyapunov stability theory    behavior based 基金項(xiàng)目： 國家高技術(shù)研究發(fā)展計(jì)劃(863計(jì)劃) Modelling and stability analysis of emergent behavior of scalable swarm system[期刊論文]  浙江大學(xué)學(xué)報(bào)A（英文版） --2006, 7(6)In this paper we propose a two-layer emergent model for scalable swarm system. The first layer describes the individual flocking behavior to the local goal position (the center of minimal circumcircle ...

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