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Modelling and stability analysis of emergent behavior of scalable swarm system

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Modelling and stability analysis of emergent behavior of scalable swarm system

Modelling and stability analysis of emergent behavior of scalable swarm system

作者/编辑:Author:… http://www.unjs.com 自然科学论文
  [Modelling and stability analysis of emergent behavior of scalable swarm system]Abstract:In this paper we propose a two-layer emergent model for scalable swarm system. The first layer describes the individual flocking behavior to the local goal position (the center of minimal circumcircle decided by the neighbors in the positive visual set of individuals) resulting from the individual motion to one or two farthest neighbors in its positive visual set; the second layer describes the emergent aggregating swarm behavior resulting from the individual motion to its local goal position. The scale of the swarm will not be limited because only local individual information is used for modelling in the two-layer topology. We study the stability properties of the swarm emergent behavior based on Lyapunov stability theory. Simulations showed that the swarm system can converge to goal regions while maintaining cohesiveness. 作者: Author: CHEN Shi-ming[1]  FANG Hua-jing[2] 作者单位: Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;School of Electrical and Electronic Engineering, East China JiaoTong University, Nanchang 330013, ChinaDepartment of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China 期 刊: 浙江大学学报A(英文版)   ISTICEISCI Journal: JOURNAL OF ZHEJIANG UNIVERSITY SCIENCE A 年,卷(期): 2006, 7(6) 分类号: N941 Keywords: Two-layer emergent model    Stability    Emergent behavior    Swarm    机标分类号: TN9 TP2 机标关键词: emergent behavior    Lyapunov stability theory    behavior based 基金项目: 国家高技术研究发展计划(863计划) Modelling and stability analysis of emergent behavior of scalable swarm system[期刊论文]  浙江大学学报A(英文版) --2006, 7(6)In this paper we propose a two-layer emergent model for scalable swarm system. The first layer describes the individual flocking behavior to the local goal position (the center of minimal circumcircle ...
Modelling and stability analysis of emergent behavior of scalable swarm system2
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  〖预览〗Abstract:Supposing that the overall situation is dug out from the distributed monitoring nodes, there should be two critical obstacles, heterogenous schema and instance, to integrating heterogeneous data from different monitoring sensors. To tackle the challenge of heterogenous schema, an instance-based approach for schema mapping, named instance-based machine-learning (IML) approach was described. And to solve the problem of heterogenous instance, a novel approach, called statistic-based clustering (SBC) approach, which utilized clustering and statistics techno……【全文阅读:Log integration on large scale for global networking monitoring
Modelling and stability analysis of emergent behavior of scalable swarm system3
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  〖预览〗Abstract:A 3D synchronism deployable antenna was designed, analyzed, and manufactured by our research group. This antenna consists oftetrahedral elements from central element. Because there are springs at the ends of some of the rods, spider joints are applied. For analysis purpose, the structure is simplified and modelled by using 2D beam elements that have no bending stiffness. Displacement vectors are defined to include two translational displacements and one torsional displacement. The stiffness matrix derived by this method is relatively simple and well def……【全文阅读:Static analysis of synchronism deployable antenna】   〔Modelling and stability analysis of emergent behavior of scalable swarm system
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