Generalizes Olfati-Saber model to nonlinear navigational feedback, proves exponential velocity alignment to center-of-mass velocity and bounded leader distance under mild conditions, shows no periodic orbits in dissipative cases, and computationally optimizes for reduced propulsion energy.
Current algorithms, communication methods and designs for underwater swarm robotics: A review
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Energy-efficient flocking with nonlinear navigational feedback
Generalizes Olfati-Saber model to nonlinear navigational feedback, proves exponential velocity alignment to center-of-mass velocity and bounded leader distance under mild conditions, shows no periodic orbits in dissipative cases, and computationally optimizes for reduced propulsion energy.