Simulation of Effects of Perturbations and Different Network Topologies on Swarm Cooperative Missions

The consensus protocol used in swarm cooperative mission for different network topologies is studied in the presence of various perturbations. Mission completion time which depends on convergence time for consensus protocol is tabulated for different network topologies. The perturbations include the...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 49; no. 1; pp. 824 - 829
Main Authors Nagarji, Javedkhan, Arya, Hemendra
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 2016
Subjects
consensus protocol
cooperative mission
effects of perturbations
network topologies
network topologies
cooperative mission
consensus protocol
effects of perturbations
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Summary:The consensus protocol used in swarm cooperative mission for different network topologies is studied in the presence of various perturbations. Mission completion time which depends on convergence time for consensus protocol is tabulated for different network topologies. The perturbations include the wind speed effect, communication delay, measurement noise and drag of the medium where agents are operating. The effects of perturbations are mainly on stability of mission and network topological effects can be prominently observed by comparing difference in mission completion time for different network topologies including directed, undirected, probabilistic, dynamic and static networks.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2016.03.160