## A Formal Analysis of Potential Energy in a Multiagent System (2004)

Citations: | 6 - 4 self |

### BibTeX

@MISC{Spears04aformal,

author = {William M. Spears and Diana F. Spears and Rodney Heil},

title = {A Formal Analysis of Potential Energy in a Multiagent System},

year = {2004}

}

### Years of Citing Articles

### OpenURL

### Abstract

### Citations

240 | Mobile Sensor Network Deployment using Potential Fields,” A Distributed Scalable Solution to the Area Coverage Problem, Distributed Autonomous Robotics Systems 5, Springer-Verlag
- Howard, Matric, et al.
- 2002
(Show Context)
Citation Context ...included, for self-stabilization. This force is modeled as a viscous friction term, i.e., the product of a viscosity coefficient and the agent’s velocity (independently modeled in the same fashion by =-=[2]-=-). The time step ∆t is proportional to the amount of time the robots take to perform their sensor readings. A parameter Fmax is added, which restricts the amount of acceleration a robot can achieve. A... |

123 | Social potential fields: a distributed behavioral control for autonomous robots
- Reif, Wang
- 1995
(Show Context)
Citation Context ... stability and convergence/correctness. Under stability is the work by [5, 6, 7]. Convergence/correctness work includes [5]. Other goals of theoretical analyses include time complexity [8], synthesis =-=[9]-=-, prediction of movement cohesion [5], coalition size [6], number of instigators to switch strategies [10], and collision frequency [11]. Methods of analysis are also diverse. Here we focus only on ph... |

75 | Distributed, Physics-Based Control of Swarms of Vehicles
- Spears, Spears, et al.
- 2004
(Show Context)
Citation Context ...d most importantly, it is possible to go directly from theory to a successful robot demo, without the usual extensive parameter tweaking! We have already demonstrated such successes with our theories =-=[1]-=-. 3 The Physicomimetics Framework In our physicomimetics framework, virtual physics forces drive a multi-agent system to a desired configuration or state. The desired configuration (state) is the one ... |

67 | Distributed cooperative control of multiple vehicle formations using structural potential functions
- Olfati-Saber, Murray
- 2002
(Show Context)
Citation Context ...etical analyses of swarm systems. Our comparisons are in terms of the goal and method of analysis. There are generally two goals: stability and convergence/correctness. Under stability is the work by =-=[5, 6, 7]-=-. Convergence/correctness work includes [5]. Other goals of theoretical analyses include time complexity [8], synthesis [9], prediction of movement cohesion [5], coalition size [6], number of instigat... |

51 | Using Artificial Physics to Control Agents
- Spears, Gordon
- 1999
(Show Context)
Citation Context ...g. 3. Agents can form hexagonal and square lattices Using this force law, AP successfully forms hexagonal lattices, with a small number of agents or hundreds. Square lattices are also easily obtained =-=[4,1]-=-. For a radius R of 50, a gravitational constant of approximately G = 1200 provides good results. The issue of how to set G, given other system parameters, is the focus of the analysis in this paper. ... |

47 |
Stability analysis of m-dimensional asynchronous swarms with a fixed communication topology
- Liu, Passino, et al.
- 2003
(Show Context)
Citation Context ...etical analyses of swarm systems. Our comparisons are in terms of the goal and method of analysis. There are generally two goals: stability and convergence/correctness. Under stability is the work by =-=[5, 6, 7]-=-. Convergence/correctness work includes [5]. Other goals of theoretical analyses include time complexity [8], synthesis [9], prediction of movement cohesion [5], coalition size [6], number of instigat... |

32 | Flocks, herds, and schools: A quantitative theory of flocking. Phys
- Toner, Tu, et al.
- 1998
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Citation Context ... analysis by [7]. The second is the kinetic gas theory by [11]. The third is the minimum energy analysis by [9]. The fourth develops macro-level equations describing flocking as a fluid-like movement =-=[12]-=-. The capability of being able to set system parameters based on theoretical laws has enormous practical value. To the best of our knowledge, the only analyses mentioned above that can be used to set ... |

28 | A General Methodology for Mathematical Analysis
- Lerman, Galstyan
- 2001
(Show Context)
Citation Context ...etical analyses of swarm systems. Our comparisons are in terms of the goal and method of analysis. There are generally two goals: stability and convergence/correctness. Under stability is the work by =-=[5, 6, 7]-=-. Convergence/correctness work includes [5]. Other goals of theoretical analyses include time complexity [8], synthesis [9], prediction of movement cohesion [5], coalition size [6], number of instigat... |

12 |
Emergent cooperative goal-satisfaction in large-scale automated-agent systems
- Shehory, Kraus, et al.
- 1999
(Show Context)
Citation Context ...ally two goals: stability and convergence/correctness. Under stability is the work by [5, 6, 7]. Convergence/correctness work includes [5]. Other goals of theoretical analyses include time complexity =-=[8]-=-, synthesis [9], prediction of movement cohesion [5], coalition size [6], number of instigators to switch strategies [10], and collision frequency [11]. Methods of analysis are also diverse. Here we f... |

12 | schools: A quantitative theory of flocking - Toner, Tu, et al. |

11 | Kinetics of Robotics: The Development of Universal Metrics
- Jantz, Doty, et al.
- 1997
(Show Context)
Citation Context ...s of theoretical analyses include time complexity [8], synthesis [9], prediction of movement cohesion [5], coalition size [6], number of instigators to switch strategies [10], and collision frequency =-=[11]-=-. Methods of analysis are also diverse. Here we focus only on physics-based analyses of physics-based swarm robotics systems. We know of four methods. The first is the Lyapunov analysis by [7]. The se... |

9 |
Phase Transitions in Instigated Collective Decision Making', Adaptive Behavior 3(2), 185{223
- Numaoka
- 1994
(Show Context)
Citation Context ... work includes [5]. Other goals of theoretical analyses include time complexity [8], synthesis [9], prediction of movement cohesion [5], coalition size [6], number of instigators to switch strategies =-=[10]-=-, and collision frequency [11]. Methods of analysis are also diverse. Here we focus only on physics-based analyses of physics-based swarm robotics systems. We know of four methods. The first is the Ly... |

7 |
The NRL micro tactical expendable (MITE) air vehicle
- Kellogg, Bovais, et al.
- 2002
(Show Context)
Citation Context ...es. 4 Designing Lattice Formations The example considered in this section was inspired by an application which required a swarm of MAVs to form a hexagonal lattice, thus creating an effective antenna =-=[3]-=-. Since MAVs (or other small agents such as nanobots) have simple sensors and primitive CPUs, our goal was to provide the simplest possible control rules requiring minimal sensors and effectors. Creat... |