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Chaotically Paced Transit of an Embedded-Leader Swarm with Local Spring-Damper Formation Control — arXiv:2609.18014

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.18014
License (as archived): CC0-1.0
Archived: 2026-10-15T18:22:34.930Z
SHA-256 of the archived text: b4397d32224d2ccf6acf63ff5690cbca63403b7967b2f329b08015ef3f416087
Stable URL of this page: https://metraipolis.com/documento/dc_ec137fbfeed9

How to cite

Chaotically Paced Transit of an Embedded-Leader Swarm with Local Spring-Damper Formation Control — arXiv:2609.18014 — arXiv (en), https://arxiv.org/abs/2609.18014 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_ec137fbfeed9 (Metraipolis archive dc_ec137fbfeed9, sha256 b4397d32224d2ccf6acf63ff5690cbca63403b7967b2f329b08015ef3f416087)

BibTeX

@misc{dcec137fbfeed9,
  title = {Chaotically Paced Transit of an Embedded-Leader Swarm with Local Spring-Damper Formation Control — arXiv:2609.18014},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.18014},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_ec137fbfeed9; sha256 b4397d32224d2ccf6acf63ff5690cbca63403b7967b2f329b08015ef3f416087},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.18014. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

This paper treats planar swarm transit along a fixed route when no ground station streams the reference in flight. One embedded leader stores the deployment point and the destination, generates the reference onboard, and drives its progress rate with a saturated coordinate of a Chua oscillator; the saturation keeps the rate inside a prescribed positive band, which gives explicit bounds on the reference arrival time. This leader broadcasts the one scalar rate to the other leaders; every leader adds it as a velocity feedforward and holds its station by single-pinned consensus on position error, while followers use only relative position and velocity feedback through a spring-damper network. For kinematic leaders and double-integrator followers on fixed graphs with ideal information exchange, the leader errors decay exponentially, the follower errors are bounded, and the whole swarm eventually stays inside the destination area whenever the final formation fits strictly inside it. Ten simulations with 30 agents compare the chaotic rate with a constant rate. The reference arrivals satisfy the analytical bounds, and the chaotic rate raises the error of a constant-velocity predictor at all three tested horizons, at the cost of a larger but bounded follower error. The analysis does not address internal link failures or model-aware observers.

Tema degli esploratori: calcolo e infrastrutture (retro-catalogo arXiv: annunci del 2026-09-17 in eess.SY).
Categorie arXiv: Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.18014 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-15T17:54:20.004Z dalla pagina https://arxiv.org/catchup/eess.SY/2026-09-17?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).