Cited by 8,339Distributed Control Multi-Agent SystemsOpinion Dynamics and Social InfluenceTraffic control and management

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Coordination of groups of mobile autonomous agents using nearest neighbor rules

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Jadbabaie, A., Jie Lin, Morse, A.S.·2003·IEEE Transactions on Automatic Control

DOI 10.1109/tac.2003.812781

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Abstract

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)
ORCID: Jadbabaie, A.
Jie Lin
Morse, A.S.
Venue: IEEE Transactions on Automatic Control
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Published: 2003-06
Volume: 48
Issue: 6
Pages: 988-1001
ISSN: 0018-9286 (ISSN-L)
DOI: 10.1109/tac.2003.812781
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
Licence: ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html (vor)
Locations: IEEE Transactions on Automatic Control (publishedVersion)
Scholarly Commons (University of Pennsylvania) (submittedVersion)
ScholarlyCommons (University of Pennsylvania) (submittedVersion)
Topics: Physical Sciences › Engineering › Control and Systems Engineering › 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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Coordination of groups of mobile autonomous agents using nearest neighbor rules

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