Cooperative behavior of mobile robots as a macro-scale analogous of the quantum harmonic oscillator

Rigatos, GG

dc.contributor.author	Rigatos, GG	en
dc.date.accessioned	2014-03-01T02:51:35Z
dc.date.available	2014-03-01T02:51:35Z
dc.date.issued	2008	en
dc.identifier.issn	1062922X	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35570
dc.subject.other	Brownian motion	en
dc.subject.other	Co-operative behaviors	en
dc.subject.other	Diffusing particles	en
dc.subject.other	Gradient algorithm	en
dc.subject.other	Kinematic model	en
dc.subject.other	Langevin	en
dc.subject.other	Linear differential equation	en
dc.subject.other	Macro scale	en
dc.subject.other	Multi-robot systems	en
dc.subject.other	Quantum harmonic oscillators	en
dc.subject.other	Brownian movement	en
dc.subject.other	Control theory	en
dc.subject.other	Cybernetics	en
dc.subject.other	Equations of motion	en
dc.subject.other	Harmonic analysis	en
dc.subject.other	Kinematics	en
dc.subject.other	Linear systems	en
dc.subject.other	Mobile robots	en
dc.subject.other	Multipurpose robots	en
dc.subject.other	Oscillators (electronic)	en
dc.subject.other	Oscillators (mechanical)	en
dc.subject.other	Mathematical models	en
dc.title	Cooperative behavior of mobile robots as a macro-scale analogous of the quantum harmonic oscillator	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ICSMC.2008.4811782	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ICSMC.2008.4811782	en
heal.identifier.secondary	4811782	en
heal.publicationDate	2008	en
heal.abstract	This paper studies a model of cooperative behavior in a multi-robot system that consists of N mobile robots. It is assumed that the robots correspond to diffusing particles, and interact to each other as the theory of Brownian motion predicts. Brownian motion is the analogous of the quantum harmonic oscillator (Q.H.O.), i.e. of Schrödinger's equation under harmonic (parabolic) potential. It is shown that the motion of the robots can be described by Langevin's equation which is a stochastic linear differential equation. It is proved that Langevin's equation is a generalization of conventional gradient algorithms. Therefore the kinematic models of mobile robots which follow conventional gradient algorithms can be considered as a subcase of the kinematic models which are derived from the diffusion analogous of the Q.H.O model. © 2008 IEEE.	en
heal.journalName	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics	en
dc.identifier.doi	10.1109/ICSMC.2008.4811782	en
dc.identifier.spage	3164	en
dc.identifier.epage	3170	en