Nonlinear Dynamics

, Volume 70, Issue 1, pp 571–584 | Cite as

Decentralized coordination of autonomous swarms inspired by chaotic behavior of ants

  • Fangzhen Ge
  • Zhen Wei
  • Yang Lu
  • Yiming Tian
  • Lixiang Li
Original Paper


In this paper, we propose a decentralized coordination algorithm for a group of mobile nodes, called an autonomous swarm, on a finite two-dimensional space, which can efficiently coordinate cooperatively the autonomous swarm to the optimal solution. Our algorithm is inspired by chaotic behavior of a single ant and self-organization behavior of the whole ant colony. To construct this algorithm, we firstly assume that each agent is a nonlinear oscillator presenting the chaotic behavior of a single ant. Then we establish a self-organization mechanism according to the self-organization behavior of the whole ant colony. Moreover, we analyze the convergence of the proposed algorithm. Finally, we experimentally evaluate the performance of our algorithm with the clustering and dispersion operations of a swarm. Comparison results of the proposed algorithm and the gradient-type one are also presented to illustrate the effectiveness of the proposed scheme in approximately global optimization for swarms.


Decentralized coordination Autonomous swarms Nonlinear oscillator Self-organization 



The authors would like to thank the editor and all the anonymous reviewers for their valuable comments and suggestions that improved the paper’s quality. This work is supported by the National Natural Science Foundation of China (Grant No. 61070220), the Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20090111110002), the Fok Ying-Tong Education Foundation for Young Teachers in the Higher Education Institutions of China (Grant No. 121062), the Program for New Century Excellent Talents in University of the Ministry of Education of China (Grant No. NCET-10-0239), and the Education Department of Anhui Province Natural Science Foundation of China (Grant No. KJ2011B147).


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  • Fangzhen Ge
    • 1
    • 2
  • Zhen Wei
    • 1
  • Yang Lu
    • 1
  • Yiming Tian
    • 1
  • Lixiang Li
    • 3
  1. 1.School of Computer and InformationHefei University of TechnologyHefeiP.R. China
  2. 2.School of Computer Science and TechnologyHuaibei Normal UniversityHuaibeiP.R. China
  3. 3.Information Security CenterBeijing University of Posts and TelecommunicationsBeijingP.R. China

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