  Stabilization of Planar Collective Motion With Limited CommunicationSepulchre, Rodolphe  ; ; in IEEE Transactions on Automatic Control (2008), 53(3), 706-719 This paper proposes a designmethodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel ... [more ▼] This paper proposes a designmethodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or timevarying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework. [less ▲] Detailed reference viewed: 17 (1 ULg)Spatial Models of Bistability in Biological Collectives; ; Sepulchre, Rodolphe et alin Proceedings of the 46th IEEE Conference on Decision and Control (2007, December) We explore collective behavior in biological systems using a cooperative control framework. In particular, we study a hysteresis phenomenon in which a collective switches from circular to parallel motion ... [more ▼] We explore collective behavior in biological systems using a cooperative control framework. In particular, we study a hysteresis phenomenon in which a collective switches from circular to parallel motion under slow variation of the neighborhood size in which individuals tend to align with one another. In the case that the neighborhood radius is less than the circular motion radius, both circular and parallel motion can occur. We provide Lyapunov-based analysis of bistability of circular and parallel motion in a closed-loop system of selfpropelled particles with coupled-oscillator dynamics. [less ▲] Detailed reference viewed: 3 (0 ULg)Oscillator Models and Collective Motion: spatial patterns in the dynamics of engineered and biological networks; ; Sepulchre, Rodolphe et alin IEEE Control Systems Magazine (2007), 27(4), 89-105 Detailed reference viewed: 24 (4 ULg)Stabilization of planar collective motion: All-to-all communicationSepulchre, Rodolphe ; ; in IEEE Transactions on Automatic Control (2007), 52(5), 811-824 This paper proposes a design methodology to stabilize isolated relative equilibria in a model of all-to-all coupled identical particles moving in the plane at unit speed. Isolated relative equilibria ... [more ▼] This paper proposes a design methodology to stabilize isolated relative equilibria in a model of all-to-all coupled identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles with fixed relative phases. The stabilizing feedbacks derive from Lyapunov functions that prove exponential stability and suggest almost global convergence properties. The results of the paper provide a low-order parametric family of stabilizable collectives that offer a set of primitives for the design of higher-level tasks at the group level. [less ▲] Detailed reference viewed: 58 (6 ULg)Collective motion, sensor networks, and ocean sampling; ; et al in Proceedings of the IEEE (2007), 95(1), 48-74 This paper addresses the design of mobile sensor networks for optimal data collection. The development is strongly motivated by the application to adaptive ocean sampling for an autonomous ocean observing ... [more ▼] This paper addresses the design of mobile sensor networks for optimal data collection. The development is strongly motivated by the application to adaptive ocean sampling for an autonomous ocean observing and prediction system. A performance metric, used to derive optimal paths for the network of mobile sensors, defines the optimal data set as one which minimizes error in a model estimate of the sampled field. Feedback control laws are presented that stably coordinate sensors on structured tracks that have been optimized over a minimal set of parameters. Optimal, closed-loop solutions are computed in a number of low-dimensional cases to illustrate the methodology. Robustness of the performance to the influence of a steady flow field on relatively slow-moving mobile sensors is also explored. [less ▲] Detailed reference viewed: 27 (6 ULg)Collective motion and oscillator synchronizationSepulchre, Rodolphe ; ; in Cooperative Control (2005) This paper studies connections between phase models of coupled oscillators and kinematic models of groups of self-propelled particles. These connections are exploited in the analysis and design of ... [more ▼] This paper studies connections between phase models of coupled oscillators and kinematic models of groups of self-propelled particles. These connections are exploited in the analysis and design of feedback control laws for the individuals that stabilize collective motions for the group. [less ▲] Detailed reference viewed: 23 (4 ULg)Oscillator Models and Collective Motion: Splay State Stabilization of Self-Propelled Particles; ; Sepulchre, Rodolphe in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference (2005) This paper presents a Lyapunov design for the stabilization of collective motion in a planar kinematic model of N particles moving at constant speed. We derive a control law that achieves asymptotic ... [more ▼] This paper presents a Lyapunov design for the stabilization of collective motion in a planar kinematic model of N particles moving at constant speed. We derive a control law that achieves asymptotic stability of the splay state formation, characterized by uniform rotation of N evenly spaced particles on a circle. In designing the control law, the particle headings are treated as a system of coupled phase oscillators. The coupling function which exponentially stabilizes the splay state of particle phases is combined with a decentralized beacon control law that stabilizes circular motion of the particles in the splay state formation around the center of mass of the group. [less ▲] Detailed reference viewed: 11 (1 ULg)Collective Motion: Bistability and Trajectory Tracking; ; Sepulchre, Rodolphe in Proceedings of the 43rd IEEE Conference on Decision and Control (2004, December) This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and ... [more ▼] This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and circular motion, for modeling and design purposes. We show that a previously considered control law simultaneously stabilizes both parallel and circular group motion, leading to bistability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking. [less ▲] Detailed reference viewed: 2 (0 ULg) |
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