Synchronization-based symmetric circular formations of mobile agents and the generation of chaotic trajectories

Freitas, Vander L. S.; Yanchuk, Serhiy; Zaks, Michael A.; Macau, Elbert E. N.

doi:10.1016/j.cnsns.2020.105543

Cited by 8 publications

(7 citation statements)

References 41 publications

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“…This section presents a model of particles with coupledoscillator dynamics [10,11,21]. We aim at having particles arranged in symmetric circular formations: clusters of the same size (same number of participants) that are evenly spaced along a circular trajectory, each containing particles with identical phases.…”

Section: Particles With Coupled-oscillator Dynamicsmentioning

confidence: 99%

“…System (1)-( 12) contains neither time-delays nor phase lags. Its stable formations have been reported in [10,11], and they consist of particles with r r r and θ θ θ of the form (4). For more information, simulations videos, and a detailed numerical investigation, we refer to [10].…”

Section: Particles With Coupled-oscillator Dynamicsmentioning

confidence: 99%

“…The problem of controlling groups of mobile agents has several applications in agriculture [1], data collection [2], and space engineering [3,4]. Implementations range from agent-based systems [5,6] and artificial neural networks [7,8] to coupled-oscillator dynamics [9,10].…”

Section: Introductionmentioning

confidence: 99%

“…Jain and Ghose [9] use second-order rotational dynamics that converge to symmetric circular formations with prescribed center and radius. Circulant coupling matrices are allowed, and the control parameters are more sensitive than first-order models [10,11] since they act on the phase acceleration. Finding proper control parameters could be a challenge, depending on the desired configuration.…”

Section: Introductionmentioning

confidence: 99%

“…This work investigates the effects of time-delay and phase lag in symmetric circular formations of mobile agents. For simplicity, we explore a model of particles with coupled-oscillator dynamics with all-to-all coupling, identical natural frequency, and unitary speed [10]. In contrast to other models, we avoid choosing specific network topologies, the spacing between clusters, and other parameters.…”

Section: Introductionmentioning

confidence: 99%

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The effects of time-delay and phase lags on symmetric circular formations of mobile agents

Freitas

Yanchuk

Grande

et al. 2021

Eur. Phys. J. Spec. Top.

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The mobile agents' circular formation problem is driven by applications that require a desired spatial and temporal separation, such as data collection or satellite constellations. There are numerous strategies to assign the cluster number and spacing, the radius of the trajectory, communication network, and other parameters. In this numerical study, we are particularly interested in the effects of time-delay and phase lag on circular formations with symmetric clusters in a first-order model with all-to-all interaction. When the information exchange time-delay exceeds some critical value, it leads to either incoherent or alternative symmetric arrangements. Besides, we show that formations can be effectively controlled using phase lags. As a paradigmatic example, we consider identical phase lags for half of the agents, while the other half receives an opposite phase lag. As a result, the system reaches more complicated stable arrangements. For instance, the agents can split into asymmetric clusters, each of them creating a symmetric formation.

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Section: Particles With Coupled-oscillator Dynamicsmentioning

confidence: 99%

Section: Particles With Coupled-oscillator Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

The effects of time-delay and phase lags on symmetric circular formations of mobile agents

Freitas

Yanchuk

Grande

et al. 2021

Eur. Phys. J. Spec. Top.

Self Cite

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A strong secure path planning/following system based on type-3 fuzzy control, multi-switching chaotic systems, and random switching topology

Tian,

Alattas,

Guo

et al. 2023

Complex Intell. Syst.

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This paper studies the synchronization and control of chaotic systems while proposing a novel chaotic-based path-tracking application for mobile robots (MRs) to ensure their safety and security. In security-based applications that use MRs, such as patrol MRs, the path of the MRs must be complex enough to prevent easy prediction. Multiple chaotic systems with a chaotic switching mechanism are introduced for secure path planning. The main challenges are that the dynamics of MRs are entirely unknown. The modeled dynamics of the MRs are unreliable in practice due to a broad range of uncertainties related to the parameters, operating conditions, environmental impacts, time delays, unmodeled frictions, noisy sensors, and faulty actuators. Also, the chaotic switching of reference signals between chaotic signals imposes a high dynamic perturbation. The main novelties are as follows: (1) a strong secure path is introduced for MRs. (2) A powerful fractional-order predictive controller using type-3 (T3) fuzzy-logic systems (FLSs) is developed. (3) The estimation and prediction errors of T3-FLSs are compensated by a designed parallel compensator. (4) T3-FLSs are tuned online, such that stability is ensured, and prediction accuracy is guaranteed. (5) The suggested scheme is implemented on a real-world MR, and the results demonstrate the feasibility and accuracy of the proposed method. Also, in several simulations, the efficacy of the introduced controller is examined.

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Rotating cluster formations emerge in an ensemble of active particles

Cantisán

Seoane

Sanjuán

2023

Chaos, Solitons & Fractals

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Synchronization-based symmetric circular formations of mobile agents and the generation of chaotic trajectories

Cited by 8 publications

References 41 publications

The effects of time-delay and phase lags on symmetric circular formations of mobile agents

The effects of time-delay and phase lags on symmetric circular formations of mobile agents

A strong secure path planning/following system based on type-3 fuzzy control, multi-switching chaotic systems, and random switching topology

Rotating cluster formations emerge in an ensemble of active particles

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