[en] Abstract—Motivated by recent observations of fish schools,
we study coordinated group motion for individuals with oscillatory
speed. Neighbors that have speed oscillations with
common frequency, amplitude and average but different phases,
move together in alternating spatial patterns, taking turns being
towards the front, sides and back of the group. We propose a
model and control laws to investigate the connections between
these spatial dynamics, communication when sensing is range
or direction limited, and convergence of coordinated group
motions.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Swain, Daniel T.; Princeton University, Princeton NJ, USA > Mechanical and Aerospace Engineering Department
Leonard, Naomi Ehrich; Princeton University, Princeton NJ, USA > Mechanical and Aerospace Engineering Department
Couzin, Iain D.; University of Princeton, Princeton NJ, USA > Department of Ecology and Evolutionary Biology
Kao, Albert; Harvard University > Physics Department
Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Language :
English
Title :
Alternating Spatial Patterns for Coordinated Group Motion
Publication date :
December 2007
Event name :
46th IEEE Conference on Decision and Control
Event place :
New-Orleans, United States - Louisiana
Event date :
du 12 au 14 décembre 2007
By request :
Yes
Audience :
International
Main work title :
Proceedings of the 46th IEEE Conference on Decision and Control
A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. Automatic Control, vol. 48, pp. 988-1001, 2003.
R. Olfati-Saber, "Flocking for multi-agent dynamic systems: Algorithms and theory," IEEE Trans, on Automatic Control, vol. 51, pp. 401-421, 2006.
B. W. Andrews, K. M. Passino, and T. A. Waite, "Social foraging theory for robust multiagent system design," IEEE Transactions on Automation Science and Engineering, vol. 4, pp. 79-86, 2007.
I. D. Couzin and A. Kao, "Fish schooling." Preprint, 2006.
R. Sepulchre, D. Paley, and N. Leonard, "Stabilization of planar collective motion: All-to-all communication," IEEE Transactions on Automatic Control, vol. 52, pp. 811-824, 2007.
R. Sepulchre, D. Paley, and N. Leonard, "Stabilization of planar collective motion with limited communication," IEEE Transactions on Automatic Control. To appear.
E. Justh and P. Krishnaprasad, "Equilibria and steering laws for planar formations," Systems and Control Letters, vol. 52, no. 1, pp. 25-38, 2004.
Y. Kuramoto, Chemical oscillations, waves, and turbulence. Springer-Verlag, 1984.
S. H. Strogatz, "From Kuramoto to Crawford: exploring the onset of synchronization in populations of coupled oscillators," Physica D, vol. 143, pp. 1-20, 2000.
I. Couzin, J. Krause, R. James, G. Ruxton, and N. Franks, "Collective memory and spatial sorting in animal groups," J. Theor. Biology, no. 218, pp. 1-11, 2002.
L. Moreau, "Stability of multiagent systems with time-dependent communication links," IEEE Trans. Automatic Control, vol. 50, no. 2, pp. 169-182, 2005.
L. Scardovi, A. Sarlette, and R. Sepulchre, "Synchronization and balancing on the N-torus," Systems and Control Letters, vol. 56, pp. 335-341, 2007.
