Asynchronous cyclic pursuit

Authors:
Andaç T. Şamiloğlu;Veysel Gazi;Buğra Koku
Affiliations:
Department of Electrical and Electronics Engineering, TOBB University of Economics and Technology, Ankara, Turkey;Department of Electrical and Electronics Engineering, TOBB University of Economics and Technology, Ankara, Turkey;Mechanical Engineering Department, Middle East Technical University, Ankara, Turkey
Venue:
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Year:
2006

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Abstract

In this article we study the convergence of the positions of a multi-agent system in a cyclic pursuit under asynchronism and time delays Each agent is assumed to operate on an infinite sequence of behaviors modeled by a finite state machine, which is represented by a discrete asynchronous mathematical model on a higher-level The results on the convergence of the synchronous model are used in the proof of convergence of the asynchronous system Numerical simulations are also performed to verify the theoretical results.