A. Jadbabaie, J. Lin, and A. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 988--1001, 2003.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....dynamical systems for optimization purposes, and to [4] for gradient descent flows in distributed computation in settings with fixed communication topologies. Recent years have witnessed a large research e#ort focused on motion planning and formation control problems for multi vehicle systems [12, 18, 19, 20, 24, 30, 31]. Within the literature on behavior based robotics, heuristic approaches to the design of interaction rules and emerging behaviors have been investigated (see [2] and references therein) Along this specific line of research, no formal results guaranteeing the correctness of the proposed ....

....correctness. A key aspect of our treatment is the inherent complexity of studying networks whose communication topology changes along the system evolution, as opposed to networks with fixed communication topologies. This key aspect is present in the analysis of distributed control laws in [18, 30, 31] and of agreement protocols in [24] Statement of contributions. We consider two facility location functions from geometric optimization that characterize coverage performance criteria. A collection of sites provides optimal service to a domain of interest if (i) it minimizes the largest distance ....

A. Jadbabaie, J. Lin, and A. S. Morse, Coordination of groups of mobile autonomous agents using nearest neighbor rules, IEEE Transactions on Automatic Control, (2003). To appear.

.... [15] 16] formation control [17] 18] 19] 20] 21] and conflict avoidance [22] 23] Algorithms for robotic sensing tasks are presented for example in [24] 25] It is only recently, however, that truly distributed coordination laws for dynamic networks are being proposed; e.g. see [26], 27] and the conference versions of this work [28] 29] Heuristic approaches to the design of interaction rules and emerging behaviors have been throughly investigated within the literature on behavior based robotics; see [30] 31] 32] 17] 33] 34] 35] 36] An example of coverage ....

A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, July 2002, To appear.

....the individual ones. Although this approach is characterized by being dicult to analyze in a rigorous and formal way, there have been some attempts to formally de ne and model behavior based control schemes [11] and some of these simple schemes have already been proven to be stable and convergent [14]. In leader follower The rst author was partially supported by Funda c ao para a Ci encia e Tecnologia under grant PRAXIS XXI BD 18149 98 while the second author was partially supported by DARPA AFRL Software Enabled Control F33615 01 C 1848 grant. Corresponding author. approaches [28, 10, ....

A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 2002.

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A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. To appear, IEEE Transactions Automatic Control, 2003.

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A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6):988--1001, June 2003.

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A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6):988--1001, June 2003.

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A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6):988--1001, July 2002.

.... Distributed Coordination of Mobile Agents with Changing Nearest Neighbors Ali Jadbabaie Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia, PA 19104 jadbabai seas.upenn.edu Abstract In a recent paper [10], we provided a formal analysis for a distributed coordination strategy proposed in [17] for coordination of a set of agents moving in the plane with the same speed but variable heading direction. Each agents heading is updated as the average of its heading and a set of its nearest neighbors. As ....

....can cause all agents to eventually move in the same direction despite the absence of centralized coordination and despite the fact that each agent s set of nearest neighbors change with time as the system evolves. More recently, a theoretical explanation for this observed behavior was provided [10]. It was shown that studying the behavior of headings of all agents amounts to studying left infinite products of certain matrices, chosen from a finite set. We now describe this model in detail: The distributed coordination model under consideration consists of n autonomous agents e.g. ....

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A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. To appear in IEEE Transactions on Automatic Control, May 2003, http://www.seas.upenn.edu/jadbabai/papers/.

....elements is closed under matrix multiplication. This is because the product of two non negative matrices with positive diagonals is a matrix with the same properties and because the product of two stochastic matrices is stochastic. Proof of Theorem 2depends on Theorem 3 and the following key lemma [23]: Lemma 1 Let p1 , p2 , pm be a set of indices in for 1 , Gp 2 , is a jointly connected collection of graphs. Then the matrix product Fp 1 Fp 2 Fpm is ergodic. 2.1 Quadratic Lyapunov Functions As we have already noted, Fp1 = 1, p # P. Thus span 1 an Fp ....

....definite and thus that I is a common discrete time Lyapunov matrix for all such Fp . Using this fact it is straight forward to prove that Theorem 1 holds for system (17) provided the Gp are defined as in (18) with g n. Proving Theorem 2 in this case is more involved and can be found in [23]. 3 Leader Following In this section we consider a modified version of Vicsek s discrete time system consisting of the same group of n agents as before, plus one additional agent, labelled 0, which acts as the group s leader. Agent 0 moves at the same constant speed as its n followers but with a ....

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A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. Accepted for publication in IEEE Transactions on Automatic Control, July 2002.

....flight of unmanned air vehicles and clustered satellites, and coordination of mobile robots. The recent paper [31] studies linear and nonlinear consensus protocols in these new applications with fixed network topology. Related coordination problems with time varying topologies have been studied in [20] using a switched linear system model. In these previous works, the edge weights used in the linear consensus protocols are either constant or only dependent on the degrees of their incident nodes. With these simple methods of choosing edge weights, many concepts and tools from algebraic graph ....

A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. To appear, IEEE Transactions Automatic Control, May 2003.

.... systems and self organization in systems of self propelled particles [36, 34, 33, 21, 17, 30, 6, 15] Similar problems have become a major thrust in systems and control theory, in the context of cooperative control, distributed control of multiple vehicles and formation control; see for example [19, 16, 24, 25, 7, 18, 10, 31, 14, 22]. In 1986 Craig Reynolds [27] developed a computer model for coordinated motion of groups of animals such as bird flocks and fish schools, to be used in computer animation or computer aided design. He named the generic simulated creatures boids . In 1995, a similar model was proposed by Vicsek ....

....coherent collective motion, resulting in the headings of all agents to converge to a common value. This was quite a surprising result in the physics community and was followed by a series of papers [5, 34, 33, 28, 21] A proof of convergence for Vicsek s model (in the noise free case) was given in [14]. Reynolds model suggests that flocking is the combined result of three simple steering rules, which each agent independently follows: Separation: steer to avoid crowding local flockmates. Alignment: steer towards the average heading of local flockmates. Cohesion: steer to move ....

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A. Jadbabaie, J. Lin, and A. S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, May 2003. to appear.

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A. Jadbabaie, J. Lin, and A. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 988--1001, 2003.

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A. Jadbabaie, J. Lin, and A. Morse, Coordination of groups of mobile autonomous agents using nearest neighbor rules, 2002.

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A. Jadbabaie, J. Lin, and A. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 2002.

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A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, pp. 988--1001, June 2003.

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A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, pp. 988--1001, June 2003.

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Ali Jadbabaie, Jie Lin, and A. Stephen Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6):988--1001, June 2003.

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A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 988--1001, June 2003.

No context found.

A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 988--1001, 2003.

No context found.

A. Jadbabaie, J. Lin, and A.S. Morse. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 48(6):988--1001, 2003.

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