Abstract
Interacting, multi-robot systems show increasing promise for advances in exploration and defense applications. Here, we model a non-linear system of self-propelled individuals interacting via a pairwise attractive and repulsive potential. Depending on the interaction parameters, the agents may disperse, accumulate into self-organizing structures such as flocks and vortices, or collapse onto themselves. Borrowing tools from Statistical Mechanics, we discuss the connections between the H-stable nature of the interaction potential and resulting aggregating patterns and asymptotic behaviors.
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D’Orsogna, M., Chuang, Yl., Bertozzi, A., Chayes, L. (2006). Pattern Formation Stability and Collapse in 2D Driven Particle Systems. In: Baglio, S., Bulsara, A. (eds) Device Applications of Nonlinear Dynamics. Understanding Complex Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-33878-0_8
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DOI: https://doi.org/10.1007/3-540-33878-0_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33877-2
Online ISBN: 978-3-540-33878-9
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