Coordination of groups of mobile autonomous agents using nearest neighbor rules
Coordination of groups of mobile autonomous agents using nearest neighbor rules
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DOI：
10.1109/tac.2003.812781
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发表时间：
2003-06-01
影响因子：
6.8
通讯作者：
Morse, AS
中科院分区：
文献类型：
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作者：
Jadbabaie, A;Lin, J;Morse, AS
在最近的一篇物理评论快报文章中，Vicsek等人。提出了一个简单但引人入胜的离散时间模型，该模型包含n个自治智能体(即点或粒子)，它们在平面上以相同的速度移动，但标题不同。每个代理的标题都是使用本地规则更新的，该规则基于它自己的标题加上它的“邻居”的标题的平均值。在他们的论文中，Vicsek等人。提供模拟结果，证明他们正在研究的最近邻居规则可以导致所有代理最终朝着同一方向移动，尽管没有集中协调，并且尽管每个代理的最近邻居集随着系统的演化而随时间变化。本文对这一观察到的行为进行了理论解释。此外，还给出了其他几个类似启发模型的收敛结果。Vicsek模型被证明是切换线性系统的一个图形例子，该切换线性系统是稳定的，但对于该切换线性系统不存在公共的二次型Lyapunov函数。
In a recent Physical Review Letters article, Vicsek et al. propose a simple but compelling discrete-time model of n autonomous agents (i.e., points or particles) all moving in the plane with the same speed but with different 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. The Vicsek model proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.