| || || Lyapunov stability, Stability, Control theory|
| || || Practical stability analysis of a three-dimensional swarm|
Author: Raj, Jai
Institution: University of the South Pacific.
Subject: Lyapunov stability, Stability, Control theory
Call No.: Pac QA 871 .R35 2012
Copyright:10-20% of this thesis may be copied without the authors written permission
Abstract: Swarm navigation is an active research domain for the last couple decades. It can be considered as a motion planning and control problem when contextualized with mobile robots, whether it be swarms or vehicular agents. The capability of biological systems to autonomously maneuver, track and pursue evasive targets in a cluttered 3D environment is vastly superior t any engineered system. It is considered an emergent behavior arising from simple rules that are followed by individuals and may not involve any central coordination. This research thesis considers a swarm of boids, which is composed of a spherical-shape. The challenges that one may face in getting the desired emergent behaviors are the complexity of the control algorithms, intensive computations and the difficulty of computer simulations, given the constraints arising from the centering of the swarm of boids. Thus, motion planning and control of swarm of boids is an interesting yet complicated multi-tasking problem. The introductory chapter describes how the swarming behavior and pattern has been modelled and analyzed by researchers. It also outlines some of the milestone work done on the field of swarming with emphasis coming from the various sectors of research such biology, physics and engineering.