Document Type
Conference Proceeding
Publication Date
12-29-2011
Journal / Book Title
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abstract
We consider the stochastic patterns of a system of communicating, or coupled, self-propelled particles in the presence of noise and communication time delay. For sufficiently large environmental noise, there exists a transition between a translating state and a rotating state with stationary center of mass. Time delayed communication creates a bifurcation pattern dependent on the coupling amplitude between particles. Using a mean field model in the large number limit, we show how the complete bifurcation unfolds in the presence of communication delay and coupling amplitude. Relative to the center of mass, the patterns can then be described as transitions between translation, rotation about a stationary point, or a rotating swarm, where the center of mass undergoes a Hopf bifurcation from steady state to a limit cycle. Examples of some of the stochastic patterns will be given for large numbers of particles.
DOI
10.1109/IROS.2011.6048160
MSU Digital Commons Citation
Mier-Y-Teran-Romero, Luis; Forgoston, Eric; and Schwartz, Ira B., "Noise, Bifurcations, and Modeling of Interacting Particle Systems" (2011). Department of Applied Mathematics and Statistics Faculty Scholarship and Creative Works. 93.
https://digitalcommons.montclair.edu/appliedmath-stats-facpubs/93
Published Citation
A. J. Petruska and S. G. Meek, "Non-drifting limb angle measurement relative to the gravitational vector during dynamic motions using accelerometers and rate gyros," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011, pp. 3632-3637, doi: 10.1109/IROS.2011.6094612.
