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Self-Organization for Multi-Agent Groups  

Kim, Dong-Hun (School of Information Science and Technology, the University of Tokyo)
Publication Information
International Journal of Control, Automation, and Systems / v.2, no.3, 2004 , pp. 333-342 More about this Journal
Abstract
This paper presents a framework for the self-organization of swarm systems based on coupled nonlinear oscillators (CNOs). In this scheme, multiple agents in a swarm self-organize to flock and arrange themselves as a group using CNOs, which are able to keep a certain distance by the attractive and repulsive forces among different agents. A theoretical approach of flocking behavior by CNOs and a design guideline of CNO parameters are proposed. Finally, the formation scenario for cooperative multi-agent groups is investigated to demonstrate group behaviors such as aggregation, migration, homing and so on. The task for each group in this scenario is to perform a series of processes such as gathering into a whole group or splitting into two groups, and then to return to the base while avoiding collision with agents in different groups and maintaining the formation of each group.
Keywords
Coupled oscillators; formation; self-organization; swarm system;
Citations & Related Records

Times Cited By Web Of Science : 4  (Related Records In Web of Science)
Times Cited By SCOPUS : 9
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