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ontheminimumnumberofneighborsneededforconsensusofflocks
Chen Chen1; Chen Ge2; Guo Lei2
2017
Source Publicationcontroltheoryandtechnology
ISSN2095-6983
Volume015Issue:004Pages:327
AbstractThis paper investigates consensus of flocks consisting of n autonomous agents in the plane, where each agent has the same constant moving speed v and updates its heading by the average value of the kn nearest agents from it, with vn and kn being two prescribed parameters depending on n. Such a topological interaction rule is referred to as k,-nearest-neighbors rule, which has been validated for a class of birds by biologists and verified to be robust with respect to disturbances. A theoretical analysis will be presented for this flocking model under a random framework with large population, but without imposing any a priori connectivity assumptions. We will show that the minimum number of k~ needed for consensus is of the order O(log n) in a certain sense. To be precise, there exist two constants C1 〉 C2 〉 0 such that, if k 〉 C1 logn, then the flocking mode will achieve consensus for any initial headings with high probability, provided that the speed vn is suitably small. On the other hand, if k 〈 Ca ogn, then for large n, with probability 1, there exist some initial headings such that consensus cannot be achieved, regardless of the value of Vn.
Language英语
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/40838
Collection系统科学研究所
国家数学与交叉科学中心
Affiliation1.Noah's Ark Laboratory, 2012 Lab, Huawei Technologies Co. Ltd
2.中国科学院数学与系统科学研究院
Recommended Citation
GB/T 7714
Chen Chen,Chen Ge,Guo Lei. ontheminimumnumberofneighborsneededforconsensusofflocks[J]. controltheoryandtechnology,2017,015(004):327.
APA Chen Chen,Chen Ge,&Guo Lei.(2017).ontheminimumnumberofneighborsneededforconsensusofflocks.controltheoryandtechnology,015(004),327.
MLA Chen Chen,et al."ontheminimumnumberofneighborsneededforconsensusofflocks".controltheoryandtechnology 015.004(2017):327.
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