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On Convergence Efficiency of an Improved vicsek model

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On Convergence Efficiency of an Improved Vicsek Model

第二十九届中国控制会议

作者： CHEN Shiming,SHU Juan,LAI Yiping School of Electrical&Electronic Engineering,East China Jiao Tong University,Nanchang 330013,P.R.China

For accelerating the convergence efficiency of vicsek model,a new direction-adjustment rule is presented with considering the topological structure of the dynamic multi-individual network,in which each individual exploits the median of the maximum deviation direction of its neighborhood range to take the place of the average direction in original vicsek *** results show that the new improved rule is better than the original vicsek model in convergence efficiency.

关键词： vicsek model Direction-adjustment rule Topological structure Convergence efficiency

Synchronization of vicsek model with Large Population

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Synchronization of Vicsek Model with Large Population

第二十六届中国控制会议

作者： Liu Zhixin,Guo Lei Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100080,P.R.China

The vicsek model can be used to describe a basic class of multi-agent systems with local interactions: each agent has the tendency to behave as other agents do in its *** computer simulations,vicsek et al.（1995） showed that such simple local interactions may lead to certain kind of cooperative phenomenon （synchronization） of the overall system,if the size of the system population is *** this model is of fundamental importance in understanding multi-agent systems,it has attracted much attention from researchers in recent *** this paper,we will present a comprehensive theoretical analysis of the vicsek model in a random framework with large *** be precise,we will show that if both the interaction radius r and the agents’ moving velocity v decrease as the population size n increases,but satisfy a certain constraint on the decreasing rates,then the overall system will synchronize for large *** proofs are based on the recent work of Tang and Guo [1,2],and involves the use of spectral graph theory and double array martingale estimation theory.

关键词： vicsek model Synchronization Spectral graph theory Martingale Population

Robust consensus of multi-agent systems with time-varying delays in noisy environment

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Science China(Technological Sciences) 2011年第8期54卷 2014-2023页

作者： CHEN Yao LV JinHu YU XingHuo Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Electrical and Computer Engineering RMIT University Melbourne VIC 3001 Australia

Over the last ten years, the consensus of multi-agent systems (MAS) has received increasing attention from mechanics, mathematics, physics, engineering sciences, social sciences, and so on. It is well known that the robustness of consensus of MAS is usually determined by several key factors, including noise, time-delays, and packet drop. In this paper, we introduce a general time-delayed MAS model with noise and also further investigate its robust consensus. In particular, we prove that the proposed algorithm is robust against the bounded time-varying delays and bounded noises. The effectiveness and robustness of the proposed consensus algorithm has been validated in the classical vicsek model with time-varying delays. And two simulation examples are also given to justify the above theoretical results. These results may have some potential applications in various fields, including mechanics, biology, and engineering sciences.

关键词： multi-agent systems time-varying delay noise robust consensus vicsek model

CONVERGENCE OF A CLASS OF MULTI-AGENT SYSTEMS IN PROBABILISTIC FRAMEWORK

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Journal of Systems Science & Complexity 2007年第2期20卷 173-197页

作者： Gongguo TANG Lei GUO Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100080 China

Multi-agent systems arise from diverse fields in natural and artificial systems, and a basic problem is to understand how locally interacting agents lead to collective behaviors （e.g., synchronization） of the overall system. In this paper, we will consider a basic class of multi-agent systems that are described by a simplification of the well-known vicsek model. This model looks simple, but the rigorous theoretical analysis is quite complicated, because there are strong nonlinear interactions among the agents in the model. In fact, most of the existing results on synchronization need to impose a certain connectivity condition on the global behaviors of the agents＇ trajectories （or on the closed-loop dynamic neighborhood graphs）, which are quite hard to verify in general. In this paper, by introducing a probabilistic framework to this problem, we will provide a complete and rigorous proof for the fact that the overall multi-agent system will synchronize with large probability as long as the number of agents is large enough. The proof is based on a detailed analysis of both the dynamical properties of the nonlinear system evolution and the asymptotic properties of the spectrum of random geometric graphs.

关键词： Connectivity large deviation local interaction rules multi-agent systems random geometric graph spectral graph theory synchronization vicsek model

Robust consensus of multi-agent systems with noise

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Science in China(Series F) 2009年第5期52卷 824-834页

作者： WANG Lin LIU ZhiXin Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China

The consensus problem of multi-agent systems has attracted wide attention from researchers in recent years, following the initial work of Jadbabaie et al. on the analysis of a simplified vicsek model. While the original vicsek model contains noise effects, almost all the existing theoretical results on consensus problem, however, do not take the noise effects into account. The purpose of this paper is to initiate a study of the consensus problems under noise disturbances. First, the class of multi-agent systems under study is transformed into a general time-varying system with noise. Then, for such a system, the equivalent relationships are established among （i） robust consensus, （ii） the positivity of the second smallest eigenvalue of a weighted Laplacian matrix, and （iii） the joint connectivity of the associated dynamical neighbor graphs. Finally, this basic equivalence result is shown to be applicable to several classes of concrete multi-agent models with noise.

关键词： time-varying systems stochastic matrix robust consensus connectivity exponential stability vicsek model

Cluster segmentation algorithm based on the vicsek with static summoning points

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Journal of Systems Engineering and Electronics 2021年第3期32卷 607-618页

作者： MA Yan MAO Zhaoyong QIN Jian MENG Xiangyao XIAO Yujie CHEN Jianhua FENG Wei Key Laboratory of Unmanned Underwater Vehicle Ministry of Industry and Information TechnologySchool of Marine Science and TechnologyNorthwestern Polytechnical UniversityXi’an 710072China Naval Research Academy Beijing 100161China

Because of the low convergence efficiency of the typical vicsek model,a vicsek with static summoning points(VSSP)algorithm based on the vicsek model considering static summoning points is ***,the mathematical model of the individual movement total cost on each summoning point is *** the individual classification rule is designed according to the initial state of the cluster to obtain the subclusters guided by each summoning ***,the summoning factor is introduced to modify the course angle updating formula of the vicsek *** verify the effectiveness of the proposed algorithm and study the effect of the cluster summoning factor on the convergence rate,three groups of simulation experiments under different summoning factors are designed in this *** verify the superiority of the VSSP algorithm,the performance of the VSSP algorithm is compared with the classic algorithm by designing the algorithm performance comparison verification *** results show that the algorithm proposed in this paper has good convergence and course angle *** summoning factor is the sensitive factor of cluster *** algorithm can provide a reference for efficient cluster segmentation movement.

关键词： static summoning point vicsek model summoning factor cluster system

Optimal Fractional Order of Self-propelled Particles in the Synchronization Motion

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Optimal Fractional Order of Self-propelled Particles in the ...

第36届中国控制会议

作者： Xiangyin Zhang Meng Jian Songmin Jia Xiuzhi Li Faulty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Digital Community Ministry of Education

This paper proposed a novel fractional-order vicsek model（FOVM）,which can effectively improve the convergence performance of the original vicsek *** experiment results show that there is the optimal value of the fra... 详细信息

ISBN: (纸本)9781538629185

关键词： Fractional Calculus vicsek model Synchronization

Enhancing convergence efficiency of self-propelled agents by diffusion concept

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Enhancing convergence efficiency of self-propelled agents by...

第40届中国控制会议

作者： Yurong Chen Xianxia Zhang Yinsheng Yu The Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics and Automation Shanghai University

In recent years, the well-known vicsek model（VM） has attracted the interest of many researchers. In this paper,we investigate a revised vicsek model based on diffusion concept, named as diffusion vicsek model. The proposed diffusion vicsek model can use weights to make the agents in the cluster more dispersed without introducing additional repulsive forces. In diffusion vicsek model, the λ is introduced to adjust the degree of dispersion. When the value of λ is larger, it is more conducive to increase the dispersion of the cluster. Especially when λ = 0, the diffusion model will become the original vicsek *** the simulation experiments, the original vicsek model and the diffusion vicsek model are compared. The results show that there is an optimal λ under different number of agents N, communication radius R and absolute velocity v0, which effectively improves the convergence speed of the cluster.

关键词： Multi-agent system vicsek model Synchronization convergence time

Robust Consensus of Multi-agent Systems with Noise

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Robust Consensus of Multi-agent Systems with Noise

第二十六届中国控制会议

作者： Wang Lin,Liu Zhixin,Guo Lei Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100080,P.R.China

The consensus problem of multi-agent systems has attracted wide attention from researchers in recent years,following the initial work of Jadbabaie et al [1] on the analysis of a simplified vicsek *** the original vicsek model contains noise effects,almost all the existing theoretical results on consensus problem,however,do not take the noise effects into *** purpose of this paper is to initiate a study of the consensus problems under noise ***,the class of multi-agent systems under study is transformed into the following general time-varying systems with noises: x（t+1） = P（t）x（t）+w（t+1）,where {P（t）} is a sequence of nonnegative stochastic ***,for such a general time-varying systems,the equivalent relationships are established among （i） robust consensus,（ii） the positivity of the second smallest eigenvalue of a weighted Laplacian matrix,and （iii） the joint connectivity of the associated dynamical neighbor ***,this basic equivalence result is shown to be applicable to several class of concrete multi-agent models with noises.

关键词： Time-varying systems stochastic matrix graph theory robust consensus Laplacian matrix connectivity exponen- tial stability vicsek model