Coordination of groups of mobile autonomous agents using nearest neighbor rules
Open accessAbstract
In a recent Physical Review Letters article, Vicsek et al. propose a simple but compelling discrete-time model of n autonomous agents (i.e., points or particles) all moving in the plane with the same speed but with different headings. Each agent's heading is updated using a local rule based on the average of its own heading plus the headings of its "neighbors." In their paper, Vicsek et al. provide simulation results which demonstrate that the nearest neighbor rule they are studying can cause all agents to eventually move in the same direction despite the absence of centralized coordination and despite the fact that each agent's set of nearest neighbors change with time as the system evolves. This paper provides a theoretical explanation for this observed behavior. In addition, convergence results are derived for several other similarly inspired models. The Vicsek model proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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- Authors
- Jadbabaie, A., Lin, J., & Morse, A. S.
- Affiliations
- Yale University (US)
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2003-06
- Volume
- 48
- Issue
- 6
- Pages
- 988-1001
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2165744313
- Cited by
- 8,339
- References
- 37
- Citations by year
- 2026: 114 · 2025: 184 · 2024: 244 · 2023: 281 · 2022: 265 · 2021: 288 · 2020: 336 · 2019: 364 · 2018: 429 · 2017: 501 · 2016: 500 · 2015: 554 · 2014: 640 · 2013: 556 · 2012: 571
- FWCI
- 209.52
- Type
- journal article
- Language
- en
- Open access
- green
- repository.upenn.edu
- Locations
- IEEE Transactions on Automatic Control (publishedVersion)
- Scholarly Commons (University of Pennsylvania) (submittedVersion)
- ScholarlyCommons (University of Pennsylvania) (submittedVersion)
- Topics
- Physical Sciences › Computer Science › Computer Networks and Communications › Distributed Control Multi-Agent Systems
- Physical Sciences › Physics and Astronomy › Statistical and Nonlinear Physics › Opinion Dynamics and Social Influence
- Physical Sciences › Engineering › Control and Systems Engineering › Traffic control and management
- Keywords
- Vicsek model, collective coordination, nearest neighbor rule, multi-agent systems, convergence analysis, switched linear systems, common quadratic Lyapunov function, distributed coordination, flocking
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Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
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