Results 1 
2 of
2
Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules
, 2002
"... In a recent Physical Review Letters paper, Vicsek et. al. propose a simple but compelling discretetime 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 a ..."
Abstract

Cited by 604 (44 self)
 Add to MetaCart
In a recent Physical Review Letters paper, Vicsek et. al. propose a simple but compelling discretetime 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.
Coordination of Distributed Autonomous Systems
, 2004
"... This thesis focuses on the analysis of emergent behaviors of a multiagent system. The ultimate aim is to synthesize complex group behaviors from simple social interactions among individuals based on simple strategies. One of the many challenges in the study of emergent behaviors of multiagent sys ..."
Abstract

Cited by 1 (0 self)
 Add to MetaCart
This thesis focuses on the analysis of emergent behaviors of a multiagent system. The ultimate aim is to synthesize complex group behaviors from simple social interactions among individuals based on simple strategies. One of the many challenges in the study of emergent behaviors of multiagent systems is characterizing the local properties of each agent that will lead to global emergent behaviors. Two types of emergent behaviors are described, namely, the Multiagent Flocking Problem and the Multiagent Rendezvous Problem. In both problems, provably correct distributed local rules are proposed. In the Flocking problem, a local heading average rule was studied and convergence of the group heading to a common unspecified heading was proved using results in convergence of matrix products in Markov Chains. Replacing the word agent by a more general notion of identity naturally leads the Flocking problem to a class of network consensus problems. In the Rendezvous problem, convergence of the group positions to a common unspecified location was established using combinations of convex analysis and standard Lyapunov function approach. An asynchronous version of the Rendezvous problem was also solved by modelling the process using a suitably defined hybrid model and a procedure called Analytic Synchronization. Recent applications of the Controlled Mobility concept to wireless network in both synchronous and asynchronous settings to optimize energy consumption is briefly discussed at the end.