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		Tianguang CHU,Long WANG,Tongwen CHEN.[en_title][J].Control Theory and Technology,2003,1(1):77~81.[Copy]

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TianguangCHU,LongWANG,TongwenCHEN
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Self-organized motion in anisotropic swarms

Tianguang CHU, Long WANG, Tongwen CHEN

(Intelligent Control Laboratory, Center for Systems and Control,Department of Mechanics and Engineering Science, Peking University, Beijing 100871 .China;Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta T6G 2V4, Canada)

Abstract:

This paper considers an anisotropic swarm model with a class of attraction and repulsion functions. It is shown that the members of the swarm will aggregate and eventually form a cohesive cluster of finite size around the swarm center. Moreover, It is also proved that under certain conditions, the swarm system can be completely stable, i.e., every solution converges to the equilibrium points of the system. The model and results of this paper extend a recent work on isotropic swarms to more general cases and provide further insight into the effect of the interaction pattern on self-organized motion in a swarm system.

Key words: Biological systems Multiagent systems Pattern formation Stability Swarms