International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Swarm System Design Based on Coupled Nonlinear Oscillators for Cooperative Behavior

  • Kim, Dong-Hun (Laboratory for Inteligent and Nonliner Control(LINC), Department of Electrical and Computer Engineering, Duke University)
  • Published : 2003.09.01
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Abstract

A control system design based on coupled nonlinear oscillators (CNOs) for a self- organized swarm system is presented. In this scheme, agents self-organize to flock and arrange group formations through attractive and repulsive forces among themselves using CNOs. Virtual agents are also used to create richer group formation patterns. The objective of the swarm control in this paper is to follow a moving target with a final group formation in the shortest possible time despite some obstacles. The simulation results have shown that the proposed scheme can effectively construct a self-organized multi-agent swarm system capable of group formation and group immigration despite the emergence of obstacles.

Keywords

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