Interactive Simulation — Standard vs DSR (Object Transport using Robot Networks)

View ACC2021 Paper (arXiv:2102.09056)
Models from Gombo, Tiwari, Devasia (ACC2021 Paper). Update laws:
Standard Y[m+1] = (I − γ δt K) Y[m] + γ δt B yd[m]   |   DSR Y[m+1] = Y[m] − αβ δt K Y[m] + αβ δt B yd[m] + [I − βK](Y[m] − Y[m−1])
1.00
2.0
0.030
1.00
1.00
0.500
0.00
1.00
0.20
—

Agent States (index vs y)

Red: Standard • Blue: DSR • Grey line shows desired yd

Deformation & Tracking (history)

Tracks max deformation D = max(y) − min(y) and worst-case tracking error maxk|yk − yd| for both methods.

Time vs Agent Positions

Thin traces: per-agent; Bold traces: mean across agents (Std & DSR).

λmax(K)

—

Standard stability

—
Requires 0 < γ·δt < 2/λmax

DSR stability bound

—
β < 4 / (λmax(α·δt + 2))

Max deformation (min so far)

—

Worst-case tracking error

—

Settling time estimate

—
When max |y−yd| ≤ ε (ε=0.02·stepAmp) for 1s