Decentralized Control of Autonomous Swarm Systems Using Artificial Potential Functions: Analytical Design Guidelines

Stability Analysis and Implementation of a Decentralized Formation Control Strategy for Unmanned Vehicles

“…A framework for decentralized control of selforganizing swarm systems based on the APFs was presented in [15] and [16] employed social potential fields to a scalable multirobot formation. Moreover, in [17], the controller development was based on a new general potential function embedding a proposed p-times differential function.…”

Particle Swarms in Optimization and Control

“…The main method for controlling the motion of the particles uses artificial potential fields. This method is considered in, e.g., (Barnes et al, 2006;Chu et al, 2006;Gazi and Passino, 2003, 2004b,a, 2005Gazi, 2005;Kim et al, 2006;Liu et al, 2003b,a;Liu and Passino, 2004).…”

“…Note that in this analysis, the particles are allowed to move through each other, and collisions are not considered. Collision avoidance based on potential functions is addressed in, e.g., (Barnes et al, 2006) and (Kim et al, 2006).…”

An analysis of dissipation functions in swarming systems

“…Although, this approach has been shown to produce interesting emergent behaviours, the systems lacks formality and is therefore difficult to validate, an essential requirement for safety or mission critical applications. This paper considers the use of a fusion behaviour-based approach known as the artificial potential field (APF) Reif and Wang (1999); Gazi and Passino (2002);Chang et al (2003); Ogren et al (2004);D'Orsogna et al (2006b); Kim et al (2006); Bennet and McInnes (2009a); Khatib (1986) alongside a number of dissipation controls. Specifically, we consider a swarm of homogeneous, autonomous agents (1 ≤ i ≤ N) that are interacting through an APF U(x i ), explicitly where:…”