Flocking with obstacle avoidance: cooperation with limited communication in mobile networks
Flocking with obstacle avoidance: cooperation with limited communication in mobile networks
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DOI：
10.1109/cdc.2003.1272912
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发表时间：
2003-12
期刊：
影响因子：
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通讯作者：
R. Olfati-Saber;R. Murray
中科院分区：
文献类型：
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作者：
R. Olfati-Saber;R. Murray
在本文中，我们提供了一个动态图论框架，用于研究存在多障碍的群集问题。特别地，我们给出了网和群作为空间诱导图的形式化定义，并定义了群集。我们引入了框架的概念，并描述了智能体群能量函数的自动构造过程。群集的任务是通过根据只需要使用本地信息的协议耗散这种能量来实现的。我们证明了雷诺兹的所有三个规则都隐藏在这个单一的协议中。用于创建群集的代理有三种类型：/spl alpha/、/spl beta/和/spl gamma/ agents。给出了100个动态智能体的群集仿真结果。
In this paper, we provide a dynamic graph theoretic framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs and define flocking. We introduce the notion of framenets and describe a procedure for automatic construction of an energy function for groups of agents. The task of flocking is achieved via dissipation of this energy according to a protocol that only requires the use of local information. We show that all three rules of Reynolds are hidden in this single protocol. Three types of agents called /spl alpha/, /spl beta/, and /spl gamma/ agents are used to create flocking. Simulation results are provided that demonstrate flocking by 100 dynamic agents.