Stability Analysis of Cohesion Properties of Cooperative Agents with Limited Sensor Capability

摘要

Networked unmanned aerial vehicles (UAVs) are being developed for various applications. Multiple robots can be designed to coordinate to accomplish certain tasks. Their cooperative behaviors resemble, to a certain extent, those of bacteria, bees and birds that work together for food in the biological world. Suppose that we refer to all such groups of entities as 'social foraging swarms.' In order for such multi-agent systems to succeed it is often critical that they can both maintain cohesive behaviors and appropriate respond to environmental stimuli, In this paper we derive stability conditions under which social foraging swarms with limited sensing capability maintain cohesiveness when following certain resource profiles. The results are verified with simulations and challenge us to look for some connections between swarms with limited sensing capability, noisy measurements, and changes of communication topology.