Supervised self-organization of large homogeneous swarms using ergodic projections of Markov chains

Authors:
Ishanu Chattopadhyay;Asok Ray
Affiliations:
Mechanical Engineering Department, The Pennsylvania State University, University Park, PA;Mechanical Engineering Department, The Pennsylvania State University, University Park, PA
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

This paper formulates a self-organization algorithm to addresses the problem of emergent behavior supervision in engineered swarms of arbitrary population size. Based on collections of independent identical finite-state agents, the algorithm is derived to compute necessary perturbations in the local agents' behavior, which guarantees convergence to the desired observed state of the swarm. A simulation example illustrates the underlying concept.