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Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules (2002)
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@MISC{Jadbabaie02coordinationof,
author = {A. Jadbabaie and J. Lin and A. S. Morse},
title = {Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules},
year = {2002}
}
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Abstract
In a recent Physical Review Letters paper, Vicsek et. al. propose a simple but compelling discrete-time model of n autonomous agents fi.e., points or particlesg all moving in the plane with the same speed but with dierent headings. Each agent's heading is updated using a local rule based on the average of its own heading plus the headings of its \neighbors." In their paper, Vicsek et. al. provide simulation results which demonstrate that the nearest neighbor rule they are studying 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. This paper provides a theoretical explanation for this observed behavior. In addition, convergence results are derived for several other similarly inspired models.
Keyphrases
nearest neighbor rule mobile autonomous agent theoretical explanation simulation result observed behavior dierent heading autonomous agent compelling discrete-time model nearest neighbor recent physical review letter paper local rule convergence result inspired model centralized coordination neighbor rule
