Asynchronous cyclic pursuit

Şamiloǧlu A. T., Gazi V., KOKU A. B.

9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Rome, Italy, 25 - 29 September 2006, vol.4095 LNAI, pp.667-678 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 4095 LNAI
  • City: Rome
  • Country: Italy
  • Page Numbers: pp.667-678
  • Yıldız Technical University Affiliated: Yes


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. © Springer-Verlag Berlin Heidelberg 2006.