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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Swarms of Single Integrator Agents
verfasst von : Veysel Gazi, Kevin M. Passino
Erschienen in: Swarm Stability and Optimization
Verlag: Springer Berlin Heidelberg
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The simplest mathematical representation of agents (e.g., robots, satellites, unmanned ground or air vehicles) used for studying swarm behavior is the
single integrator
model. In this model the motion of an agent
i
,
i
= 1, ...,
N
, is given by
$$ \dot{x}_{i} = u_{i}, $$
where
$x_{i} \in {\mathbb R}^{n}$
is the state of agent
i
and
$u_{i} \in {\mathbb R}^{n}$
is its control input. We refer to this model as a
higher-level
or
kinematic
agent model since it ignores the lower-level vehicle dynamics of the individual agents.