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Robust synchronization of heterogeneous robot swarms on the sphere
Markdahl, Johan; Proverbio, Daniele; Goncalves, Jorge
2020In 2020 59th IEEE Conference on Decision and Control (CDC)
Peer reviewed
 

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Keywords :
Synchronization; Manifold; Multi agent system
Abstract :
[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.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Markdahl, Johan ;  University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > Systems Control
Proverbio, Daniele ;  University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > Systems Control
Goncalves, Jorge ;  University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > Systems Control
External co-authors :
yes
Language :
English
Title :
Robust synchronization of heterogeneous robot swarms on the sphere
Publication date :
2020
Event name :
2020 59th IEEE Conference on Decision and Control (CDC)
Event organizer :
IEEE
Event place :
Jeju Isand, South Korea
Event date :
14-18 Dec. 2020
Main work title :
2020 59th IEEE Conference on Decision and Control (CDC)
Publisher :
IEEE
Peer reviewed :
Peer reviewed
Funders :
FNR - Fonds National de la Recherche [LU]
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