Many multi-agent systems in nature are comprised of agents that interact with, and respond to, the dynamics of their environment. In this paper, we approach the study of such agent-environment interactions through the study of passively compliant vehicles coupled to their environment via simple nonholonomic constraints. We first consider a single passively compliant Chaplygin beanie atop a platform having translational compliance, introduce the reduced equations for the system using the notion of nonholonomic momentum, and provide proof for its stability under arbitrary deformations of the elastic element modeling its compliance. We then direct our focus to results concerning the frequency response and control of passive Chaplygin beanies under actuation of the platform, discuss rich dynamical features arising from periodic actuation, and develop rules by which control can be exerted to collect and disperse multiple passive vehicles. We then discuss how the latter of these results clarifies the extent to which stable behavior can be excited in the system through exogenous control.
翻译:许多多试剂系统在性质上由与其环境动态发生相互作用并作出反应的代理人组成。在本文件中,我们通过简单的非蛋白质限制研究被动顺从车辆及其环境,研究这种代理-环境相互作用。我们首先考虑一个单一被动顺从的Chaplygin beanie atop 平台,该平台具有翻译顺从性,引入使用非蛋白质动力概念的系统减少方程式,并在弹性元素模型的任意变形下为其稳定性提供证明。然后,我们集中关注平台激活下的被动Chaplygin beanies的频率反应和控制结果,讨论定期操作产生的丰富的动态特征,并制定规则,以便控制收集和驱散多个被动车辆。然后,我们讨论这些结果的后一个方程式如何澄清通过外源控制在系统中可以刺激稳定行为的程度。