A delayed stochastic swarm model with singular repulsion is made rigorous via an augmented Lyapunov functional, then optimized to show temporally sparse bang-off-bang leader actuation reduces effort and that more leaders are not always better.
SIAM review43(3), 525–546 (2001)
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Controlling the Swarm: Sparse Actuation and Collision Avoidance under Stochastic Delay
A delayed stochastic swarm model with singular repulsion is made rigorous via an augmented Lyapunov functional, then optimized to show temporally sparse bang-off-bang leader actuation reduces effort and that more leaders are not always better.