具有固定拓扑通信结构的N个个体运动分析

N Individual motion analysis of stability analysis of swarms with a communication

研究了在M维空间里具有子通信拓扑结构的群集模型,具有邻近和位置感应器的每个个体,只与固定的邻近个体通信,并且根据位置感应器提供的参考个体的预测位置信息更新自己的位置。同时证明即使存在延迟和异步的情况,并使得相邻个体之间保持适当的距离。

In this paper,a model of an M-dimensional swarm with a communication sub-topology is studied,where each member only communicates with fixed neighbors.Each member has proximity sensor and neighbor position sensor and updates its position in term of delayed position of reference neighbor by neighbor position sensor.It is proved that the swarm can achieve stability and make two communicating neighbors be of a comfortable distance,even in the presence of sensing delay and asynchronies.