Sciweavers

Share
AUTOMATICA
2006

Gibbs sampler-based coordination of autonomous swarms

9 years 1 months ago
Gibbs sampler-based coordination of autonomous swarms
In this paper a novel, Gibbs sampler-based algorithm is proposed for coordination of autonomous swarms. The swarm is modeled as a Markov random field (MRF) on a graph with a time-varying neighborhood system determined by local interaction links. The Gibbs potential is designed to reflect global objectives and constraints. It is established that, with primarily local sensing/communications, the swarm configuration converges to the global minimizer(s) of the potential function. The impact of the Gibbs potential on the convergence speed is investigated. Finally a hybrid algorithm is developed to improve the efficiency of the stochastic scheme by integrating the Gibbs sampler-based method with the deterministic gradient-flow method. Simulation results are presented to illustrate the proposed approach and verify the analyses. 2006 Elsevier Ltd. All rights reserved.
Wei Xi, Xiaobo Tan, John S. Baras
Added 10 Dec 2010
Updated 10 Dec 2010
Type Journal
Year 2006
Where AUTOMATICA
Authors Wei Xi, Xiaobo Tan, John S. Baras
Comments (0)
books