The DOI matches its Crossref record; 38 of the 38 references it cites were found in a registry or an index.
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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Cites
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Flagged first, then by citations
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- Morse, Dwell-time switching, 176
- Morse, 2001, Virtual shells for avoiding collisions
- Tanner, 2002, Distributed coordination strategies for groups of mobile autonomous agents
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Sorted by citations
Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
Olfati-Saber, R., & Murray, R. M. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.834113 · Cited by 12,788
Consensus and Cooperation in Networked Multi-Agent Systems
Olfati-Saber, R., Fax, J. A., & Murray, R. M. (2007) · Proceedings of the IEEE · doi:10.1109/jproc.2006.887293 · Cited by 10,522
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Ren, W., & Beard, R. W. (2005) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2005.846556 · Cited by 6,563
Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
Olfati‐Saber, R. (2006) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2005.864190 · Cited by 5,034
Distributed Subgradient Methods for Multi-Agent Optimization
Nedic, A., & Ozdaglar, A. (2009) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2008.2009515 · Cited by 3,719
Metadata
- 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 › 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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