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自动化学报 2006
大规模联合采集智能群体的协调跟踪模型及稳定性分析, PP. 38-42 Keywords: Foragingswarm,cooperativetrackingbehavior,stability,scalability Abstract: ？Animprovedcooperativetrackingmodelisproposed,whichisbasedonthelocalinformationbetweenmutuallyobservableindividualswithglobalobjectinformation,andthismodelisusedforscalablesocialforagingswarm.Inthismodel,the“follower”individualsintheswarmtakethecenteroftheminimalcircumcircledecidedbytheneighborsinthepositivevisualsetofindividualasitslocalobjectposition.WestudythestabilitypropertiesofcooperativetrackingbehaviorofsocialforagingswarmbasedonLyapunovstabilitytheory.Simulationsshowthatthestablecooperativetrackingbehavioroftheglobalsocialforagingswarmcanbeachievedeasily,andbeautifulscalabilityemergefromtheproposedmodelforsocialforagingswarm.
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