Foraging motion of swarms with leaders as Nash equilibria

dc.citation.epage168en_US
dc.citation.spage163en_US
dc.citation.volumeNumber73en_US
dc.contributor.authorYıldız, A.en_US
dc.contributor.authorÖzgüler, A. B.en_US
dc.date.accessioned2018-04-12T10:56:09Z
dc.date.available2018-04-12T10:56:09Z
dc.date.issued2016en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractThe consequences of having a leader in a swarm are investigated using differential game theory. We model foraging swarms with leader and followers as a non-cooperative, multi-agent differential game. The agents in the game start from a set of initial positions and migrate towards a target. The agents are assumed to have no desire, partial desire or full desire to reach the target. We consider two types of leadership structures, namely hierarchical leadership and a single leader. In both games, the type of leadership is assumed to be passive. We identify the realistic assumptions under which a unique Nash equilibrium exists in each game and derive the properties of the Nash solutions in detail. It is shown that having a passive leader economizes in the total information exchange at the expense of aggregation stability in a swarm. It turns out that, the leader is able to organize the non-identical followers into harmony under missing information.en_US
dc.description.provenanceMade available in DSpace on 2018-04-12T10:56:09Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 179475 bytes, checksum: ea0bedeb05ac9ccfb983c327e155f0c2 (MD5) Previous issue date: 2016en
dc.identifier.doi10.1016/j.automatica.2016.07.024en_US
dc.identifier.issn0005-1098
dc.identifier.urihttp://hdl.handle.net/11693/36873
dc.language.isoEnglishen_US
dc.publisherElsevier Ltden_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/j.automatica.2016.07.024en_US
dc.source.titleAutomaticaen_US
dc.subjectDifferential game theoryen_US
dc.subjectDirected staren_US
dc.subjectForagingen_US
dc.subjectLeader–followeren_US
dc.subjectMulti-agent systemsen_US
dc.subjectNash equilibriumen_US
dc.subjectOrdered graphen_US
dc.subjectRendezvous problemen_US
dc.subjectSwarmen_US
dc.titleForaging motion of swarms with leaders as Nash equilibriaen_US
dc.typeArticleen_US

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