Stability analysis of swarms in an environment with an Attractant/Repellent profile

Gazi V., Passino K.

20th Annual American Control Conference (ACC), Alaska, United States Of America, 8 - 10 May 2002, vol.1-6, pp.1819-1824 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 1-6
  • City: Alaska
  • Country: United States Of America
  • Page Numbers: pp.1819-1824
  • Yıldız Technical University Affiliated: Yes


In this article we specify an "individual-based" continuous time swarm model in n-dimensional space with an attractant/repellent profile. The motion of each individual is determined by three components: (i) attraction to the other individuals on long distances, (ii) repulsion from the other individuals on short distances, and (iii) attraction to the more favorable regions of the attractant/repellent profile. We study the stability properties of the collective behavior of the swarm for different profiles and provide conditions for collective convergence to more favorable regions of the profile.