Malcolm MacDonald

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In this work a formation flying based architecture is presented within the context of a distributed antenna array. An artificial potential function method is used to control the formation whereby deviation from an all-to-all interaction scheme and swarm shaping are enabled through a self-similar connection network. Introduction of an asymmetric term in the(More)
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Control of a large engineered swarm can be achieved by influencing key agents within the swarm. The swarm can rely on its communication network to spread the external perturbation and transition to a new state when all agents reach a consensus. Maximising this consensus speed is a vital design parameter when fast response is desirable. The systems analysed(More)
Consensus and decision-making are often analysed in the context of networks, with many studies focusing attention on ranking the nodes of a network depending on their relative importance to information routing. Dynamical influence ranks the nodes with respect to their ability to influence the evolution of the associated network dynamical system. In this(More)
Strathprints is designed to allow users to access the research output of the University of Strathclyde. Copyright © and Moral Rights for the papers on this site are retained by the individual authors and/or other copyright owners. You may not engage in further distribution of the material for any profitmaking activities or any commercial gain. You may(More)
Extended Abstract The control of mobile robotic agents is required to be highly reliable. Artificial potential function (APF) methods have previously been assessed in the literature for providing stable and verifiable control, whilst maintaining a high degree of non-linearity. Further, these methods can, in theory, be characterised by a full analytic(More)
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