On the Stability of Swarm Consensus Under Noise Control

Speaker: 
Gregory Fricke
Date of Seminar: 
Fri, 2011-11-04 11:45
Semester & Year: 
Fall 2011
Seminar Location: 
Hudson 125
Seminar Contact(s): 
Chad Gibbs: scg8@duke.edu
Special Instructions: 
Lunch will be provided between 11:45AM and the beginning of the seminar at noon
This presentation gives an overview of the current work on the behavior of a swarm of independent robotic agents. Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the logical and global convergence behavior of an N-member swarm of agents in a modified consensus problem wherein the connectivity of agents is governed by probabilistic functions. The addition of a random walk control ensures Lyapunov stability of the swarm consensus. Simulation results are given and experiments are described. Presentation will be adapted from presentation given at the 2011 ASME Dynamic Systems and Controls Conference (SCC2011) in Arlington Virginia from 31 Oct to 2 November.