Flocking for multi-agent dynamic systems: Algorithms and theory (2006)
| Venue: | IEEE Transactions on Automatic Control |
| Citations: | 73 - 1 self |
BibTeX
@ARTICLE{Olfati-saber06flockingfor,
author = {Reza Olfati-saber},
title = {Flocking for multi-agent dynamic systems: Algorithms and theory},
journal = {IEEE Transactions on Automatic Control},
year = {2006},
volume = {51},
pages = {401--420}
}
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Abstract
Submitted to the IEEE Transactions on Automatic Control Technical Report CIT-CDS 2004-005 In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms. Two cases of flocking in free-space and presence of multiple obstacles are considered. We present three flocking algorithms: two for free-flocking and one for constrained flocking. A comprehensive analysis of the first two algorithms is provided. We demonstrate the first algorithm embodies all three rules of Reynolds. This is a formal approach to extraction of interaction rules that lead to the emergence of collective behavior. We show that the first algorithm generically leads to regular fragmentation, whereas the second and third algorithms both lead to flocking. A systematic method is provided for construction of cost functions (or collective potentials) for flocking. These collective potentials penalize deviation from a class of lattice-shape objects called α-lattices. We use a multi-species framework for construction of collective potentials that consist of flock-members, or α-agents, and virtual agents associated with α-agents called β- and γ-agents. We show that the tracking/migration problem for flocks can be solved using an algorithm with a peer-to-peer architecture. Each node (or macro-agent) of this peer-to-peer network is the aggregation of all three species of agents. The implication of this fact is that “flocks
