Distributed Control Multi-Agent Systems

In this note, we specify an "individual-based" continuous-time model for swarm aggregation in n-dimensional space and study its stability properties. We show that the individuals (autonomous agents or biological creatures) will form a cohesive swarm in a finite time. Moreover, we obtain an explicit bound on the swarm…

• VEYSEL GAZİ

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• ÖZGÜR BARIŞ AKAN

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• GÖKHAN İNALHAN

Swarm robotics systems are characterized by decentralized control, limited communication between robots, use of local information, and emergence of global behavior. Such systems have shown their potential for flexibility and robustness [1]-[3]. However, existing swarm robotics systems are by and large still limited to…

• ALİ EMRE TURGUT

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• EVŞEN YANMAZ ADAM

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• EROL ŞAHİN

In this paper, we consider a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, the interindividual interacti…

• VEYSEL GAZİ

In this brief article, we consider an M-member `individual-based' continuous time swarm model in an n-dimensional space and extend the results in Gazi and Passino (Citation2003) by specifying a general class of attraction/repulsion functions that can be used to achieve swarm aggregation. These functions are odd functi…

• VEYSEL GAZİ

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• EROL ŞAHİN

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• FATİH GÖKÇE

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• ALİ EMRE TURGUT

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