Multi-agent Flocking With Random Communication Radius
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Consensus
Stochastic Process
Random Networks
Graph Theory
Algebra
Controls and Control Theory
Dynamic Systems
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Probability
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In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by a metric rule based on a random interaction range. The goal of this paper is to determine a bound on the probability that the agents asymptotically agree on a common velocity (i.e. a flocking behavior is achieved). This bound should depend on practical conditions (on the initial positions and velocities of agents) only. For this purpose, we exhibit an i.i.d. process bounding the original system’s dynamics. We build upon previous work on multi-agent systems with switching communication networks. Though conservative, our approach provide conditions that can be verified a priori.
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Martin, S., Fazeli, A., Jadbabaie, A., & Girard, A. (2012). Multi-agent flocking with random communication radius. American Control Conference (ACC), pp.3871-3876. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6315594&isnumber=6314593 © 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.