NDLI: How many leaders are required for consensus

Content Provider	IEEE Xplore Digital Library
Author	Liu Zhixin
Copyright Year	2008
Description	Author affiliation: Key Lab. of Syst. & Control, CAS, Beijing (Liu Zhixin)
Abstract	Many natural and artificial systems, for example, fish school, bird flocks, robot team, are often composed of two different classes of agents: autonomous agents and leaders. The leaders have pertinent information, such as the location of the food source, while the autonomous agents make decisions according to local interactions. Then a basic problem is: how many leaders are required in order to induce all agents move with the same direction as leaders(such collective behavior is called consensus)? In this paper, we will consider a simple, but typical model proposed by Vicsek et al.(Vicsek model), in addition to the ordinary agents moving at the constant velocity with heading updated according to local rules, we add some leaders at the same velocity but with fixed heading. We will show that in order to induce the whole system reach consensus, the proportion of the leaders decreases as the number of autonomous agents increases under some conditions on the velocity v and neighborhood radius r. And the numerical examples are given to illustrate the necessity of the leaders. The proof is based on the analysis of the system dynamics and the initial neighbor graph, where multi-array martingale theorem play a key role.
Starting Page	566
Ending Page	570
File Size	164574
Page Count	5
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4605878
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Analytical models Neighbor graph Vicsek model Leader Lead Autonomous agents Numerical models Trajectory Mathematical model Marine animals Multi-array martingale theorem Consensus
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Heading consensus with collision avoidance for linearized Vicsek model with a connected initial graph

Consensus of the 3-dimensional Vicsek model

Consensus decision-making of animal groups in motion

Consensus of multi-agent systems based on leader-following control

Multi-agent coordination using nearest-neighbor rules: revisiting the Vicsek model”; http://arxiv.org/abs/cs.MA/0407021

Finite-time leader-following consensus for multiple non-holonomic agents

Leader-following output consensus and regulation of identical agents with output saturations

The proportion of leaders needed in the consensus decision-making

Consensus of time-varying nonlinear non-autonomous networks with application to field sampling by mobile robots

How many leaders are required for consensus

Similar Documents

Heading consensus with collision avoidance for linearized Vicsek model with a connected initial graph

Consensus of the 3-dimensional Vicsek model

Consensus decision-making of animal groups in motion

Consensus of multi-agent systems based on leader-following control

Multi-agent coordination using nearest-neighbor rules: revisiting the Vicsek model”; http://arxiv.org/abs/cs.MA/0407021

Finite-time leader-following consensus for multiple non-holonomic agents

Leader-following output consensus and regulation of identical agents with output saturations

The proportion of leaders needed in the consensus decision-making

Consensus of time-varying nonlinear non-autonomous networks with application to field sampling by mobile robots

How many leaders are required for consensus