Local information-based control for probabilistic swarm distribution guidance

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dc.contributor.authorJang, Inmo
dc.contributor.authorShin, Hyosang
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2018-12-17T15:05:30Z
dc.date.available2018-12-17T15:05:30Z
dc.date.issued2018-11-16
dc.description.abstractThis paper proposes a closed-loop decentralised framework for swarm distribution guidance, which disperses homogeneous agents over bins to achieve a desired density distribution by using feedback gains from the current swarm status. The key difference from existing works is that the proposed framework utilises only local information, not global information ,to generate the feedback gains for stochastic policies. Dependency on local information entails various advantages including reduced inter-agent communication, a shorter timescale for obtaining new information, asynchronous implementation, and deployability without a priori mission knowledge. Our theoretical analysis shows that, even utilising only local information, the proposed framework guarantees convergence of the agents to the desired status, while maintaining the advantages of existing closed-loop approaches. Also, the analysis explicitly provides the design requirements to achieve all the advantages of the proposed framework. We provide implementation examples and report the results of empirical tests. The test results confirm the effectiveness of the proposed framework and also validate the robustness enhancement in a scenario of partial disconnection of the communication network.en_UK
dc.identifier.citationInmo Jang, Hyo-Sang Shin, and Antonios Tsourdos. Local information-based control for probabilistic swarm distribution guidance. Swarm Intelligence, 2018, Volume 12, Issue 4, pp. 327-359en_UK
dc.identifier.issn1935-3812
dc.identifier.urihttps://doi.org/10.1007/s11721-018-0160-2
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13745
dc.language.isoenen_UK
dc.publisherWileyen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectSwarm roboticsen_UK
dc.subjectMulti-agent systemsen_UK
dc.subjectDecentralised decision-makingen_UK
dc.subjectSelf-organisationen_UK
dc.subjectProbabilistic swarm guidanceen_UK
dc.subjectMarkov-chain-baseden_UK
dc.titleLocal information-based control for probabilistic swarm distribution guidanceen_UK
dc.typeArticleen_UK

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