@inproceedings{d310114ad8b54ff9a5e1b6b6f33b7a09,
title = "Effective sensing regions and connectivity of agents undergoing periodic relative motions",
abstract = "Time-varying graphs are widely used to model communication and sensing in multi-agent systems such as mobile sensor networks and dynamic animal groups. Connectivity is often determined by the presence of neighbors in a sensing region defined by relative position and/or bearing. We present a method for calculating the effective sensing region that defines the connectivity between agents undergoing periodic relative motions. This method replaces time-varying calculations with time-invariant calculations which greatly simplifies studies of connectivity and convergence of consensus algorithms. We apply the technique to the case of agents moving in a common fixed direction with sinusoidal speed oscillations and fixed relative phases. For agents moving in a straight line, we show analytically how to select dynamics for fast convergence of consensus. Further numerical results suggest graph-level connectivity may be achieved with a sensing radius lower than that predicted by percolation theory for agents with fixed relative positions.",
author = "Swain, {Daniel T.} and Ming Cao and Leonard, {Naomi Ehrich}",
year = "2008",
doi = "10.1109/CDC.2008.4739420",
language = "English (US)",
isbn = "9781424431243",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3089--3094",
booktitle = "Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008",
address = "United States",
note = "47th IEEE Conference on Decision and Control, CDC 2008 ; Conference date: 09-12-2008 Through 11-12-2008",
}