Multi-Agent Flocking with Random Communication Radius

Abstract : 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 iid process bounding the original system's dynamics. We build upon previous work on multi-agent systems with switching communication networks. Though conservative, our approach provides conditions that can be verified a priori.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-00769675
Contributor : Brigitte Bidégaray-Fesquet <>
Submitted on : Wednesday, January 2, 2013 - 11:55:11 PM
Last modification on : Thursday, July 4, 2019 - 9:54:02 AM

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  • HAL Id : hal-00769675, version 1

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Samuel Martin, Arastoo Fazeli, Ali Jadbabaie, Antoine Girard. Multi-Agent Flocking with Random Communication Radius. ACC 2012 - 2012 American Control Conference, Jun 2012, Montréal, Canada. pp.3871-3876. ⟨hal-00769675⟩

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