Collective motion in non-reciprocal swarms  

作　　者：Bo LIU Tianguang CHU Long WANG 

机构地区：[1]College of Science, North China University of Technology, Beijing 100041, China [2]Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, and Key Laboratory of Machine Perception （Ministry of Education）, Peking University, Beijing 100871, China

出　　处：《控制理论与应用（英文版）》2009年第2期105-111,共7页

基　　金：supported by the National Natural Science Foundation of China (No.60674047, 60674050, 60528007);National 863 Program (No.2006AA04Z247,2006AA04Z258);11-5 project (No.A2120061303);SRFDP (No.20060001013);the Doctoral Fund and Youth Key Fund of North China University of Technology

摘　　要：This paper studies a non-reciprocal swarm model that consists of a group of mobile autonomous agents with an attraction-repulsion function governing the interaction of the agents. The function is chosen to have infinitely large values of repulsion for vanishing distance between two agents so as to avoid occurrence of collision. It is shown analytically that under the detailed balance condition in coupling weights, all the agents will aggregate and eventually form a cohesive cluster of finite size around the weighted center of the swarm in a finite time. Moreover, the swarm system is completely stable, namely, the motion of all agents converge to the set of equilibrium points. For the general case of non-reciprocal swarms without the detailed balance condition, numerical simulations show that more complex self-organized oscillations can emerge in the swarms. The effect of noise on collective dynamics of the swarm is also examined with a white Gaussian noise model.This paper studies a non-reciprocal swarm model that consists of a group of mobile autonomous agents with an attraction-repulsion function governing the interaction of the agents. The function is chosen to have infinitely large values of repulsion for vanishing distance between two agents so as to avoid occurrence of collision. It is shown analytically that under the detailed balance condition in coupling weights, all the agents will aggregate and eventually form a cohesive cluster of finite size around the weighted center of the swarm in a finite time. Moreover, the swarm system is completely stable, namely, the motion of all agents converge to the set of equilibrium points. For the general case of non-reciprocal swarms without the detailed balance condition, numerical simulations show that more complex self-organized oscillations can emerge in the swarms. The effect of noise on collective dynamics of the swarm is also examined with a white Gaussian noise model.

关 键 词：AGGREGATION Collective behaviour Collision avoidance Complete stability Self-organized oscillation 

分 类 号：F713.50[经济管理—市场营销] O571.2[经济管理—产业经济]