Theoretical foundations for multiple rendezvous of glowworm-inspired mobile agents with variable local-decision domains

Krishnanand, KN and Ghose, Debasish (2006) Theoretical foundations for multiple rendezvous of glowworm-inspired mobile agents with variable local-decision domains. In: American Control Conference 2006, JUN 14-16, 2006, Minneapolis, MN,, pp. 3588-3593.

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Abstract

We present the theoretical foundations for the multiple rendezvous problem involving design of local control strategies that enable groups of visibility-limited mobile agents to split into subgroups, exhibit simultaneous taxis behavior towards, and eventually rendezvous at, multiple unknown locations of interest. The theoretical results are proved under certain restricted set of assumptions. The algorithm used to solve the above problem is based on a glowworm swarm optimization (GSO) technique, developed earlier, that finds multiple optima of multimodal objective functions. The significant difference between our work and most earlier approaches to agreement problems is the use of a virtual local-decision domain by the agents in order to compute their movements. The range of the virtual domain is adaptive in nature and is bounded above by the maximum sensor/visibility range of the agent. We introduce a new decision domain update rule that enhances the rate of convergence by a factor of approximately two. We use some illustrative simulations to support the algorithmic correctness and theoretical findings of the paper.

Item Type:	Conference Poster
Series.:	PROCEEDINGS OF THE AMERICAN CONTROL CONFERENCE
Publisher:	Institute of Electrical and Electronics Engineers
Additional Information:	Copyright of this article belongs to Institute of Electrical and Electronics Engineers.
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	10 Aug 2010 04:33
Last Modified:	19 Sep 2010 06:12
URI:	http://eprints.iisc.ac.in/id/eprint/30693

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