Reference : Robust synchronization of heterogeneous robot swarms on the sphere
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/10993/48263
Robust synchronization of heterogeneous robot swarms on the sphere
English
Markdahl, Johan [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > Systems Control >]
Proverbio, Daniele mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > Systems Control >]
Goncalves, Jorge mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > Systems Control >]
2020
2020 59th IEEE Conference on Decision and Control (CDC)
IEEE
Yes
2020 59th IEEE Conference on Decision and Control (CDC)
14-18 Dec. 2020
IEEE
Jeju Isand
Republic of Korea
[en] Synchronization ; Manifold ; Multi agent system
[en] Synchronization on the sphere is important to certain control applications in swarm robotics. Of recent interest is the Lohe model, which generalizes the Kuramoto model from the circle to the sphere. The Lohe model is mainly studied in mathematical physics as a toy model of quantum synchronization. The model makes few assumptions, wherefore it is well-suited to represent a swarm. Previous work on this model has focused on the cases of complete and acyclic networks or the homogeneous case where all oscillator frequencies are equal. This paper concerns the case of heterogeneous oscillators connected by a non-trivial network. We show that any undesired equilibrium is exponentially unstable if the frequencies satisfy a given bound. This property can also be interpreted as a robustness result for small model perturbations of the homogeneous case with zero frequencies. As such, the Lohe model is a good choice for control applications in swarm robotics.
Fonds National de la Recherche - FnR
http://hdl.handle.net/10993/48263
10.1109/CDC42340.2020.9304268
A preprint version is available on https://arxiv.org/abs/2004.00296

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