Publication:
A Generalized Gazi-Passino Model with Coordinate-coupling Matrices for Swarm Formation with Rotation Behaviour

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dc.contributor.authorsFedele G., D'Alfonso L., Gazi V.
dc.date.accessioned2022-03-23T11:41:29Z
dc.date.accessioned2026-01-10T17:36:11Z
dc.date.available2022-03-23T11:41:29Z
dc.date.issued2022
dc.description.abstractIn this paper a kinematic continuous time swarm model is considered by extending the results in [1]. The extension regards a more general class of attraction/repulsion functions that can be used to explain the formation of rotational patterns in a swarm of agents. The main characteristic of this model is the introduction of two coordinates coupling matrices weighting both the attractive and the repulsive interactions among the agents. A stability analysis is presented to characterize the swarm in terms of size and cohesiveness. Moreover, a class of attraction/repulsion functions is presented to guarantee the cohesiveness of the swarm in a polytopic region and a steady-state motion of the agents in a rotational frame around the swarm centroid. Numerical simulations are provided to illustrate the obtained results. IEEE
dc.identifier.doi10.1109/TCNS.2022.3141012
dc.identifier.issn23255870
dc.identifier.urihttps://hdl.handle.net/11424/254668
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofIEEE Transactions on Control of Network Systems
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectAgents-based systems
dc.subjectautonomous systems
dc.subjectcooperative control
dc.subjectCouplings
dc.subjectGrippers
dc.subjectMicroorganisms
dc.subjectOrbits
dc.subjectPredictive models
dc.subjectswarms
dc.subjectTracking
dc.subjectTrajectory
dc.titleA Generalized Gazi-Passino Model with Coordinate-coupling Matrices for Swarm Formation with Rotation Behaviour
dc.typearticle
dspace.entity.typePublication
oaire.citation.titleIEEE Transactions on Control of Network Systems

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