- Fricke, G., Rogers, B., and Garg, D., On the Stability of Swarm Consensus under Noisy Control,
Proceedings of the 2011 Dynamic Systems and Control Conference
(last updated on 2011/08/15)
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a modified consensus problem wherein the connectivity of agents is governed by probabilistic functions. The addition of a random walk control ensures Lyapunov stability of the swarm consensus. Simulation results are given and planned experiments are described.