@article {
	title = {Gibbs Sampler-Based Self-Organization of Autonomous Swarms},
	author = {Xi, Wei., Tan, Xiaobo., Baras, John S.},
	year = {2006},
	month = {07/2006},
	abstract = {In this paper a novel, Gibbs sampler-based algorithm is proposed for coordination of autonomous swarms. The swarm is modeled as a Markov random field (MRF) on a graph with a time-varying neighborhood system determined by local interaction links. The Gibbs potential is designed to reflect global objectives and constraints. It is established that with primarily local sensing/communications, the swarm configuration converges to the global minimizer(s) of the potential function. The impact of the Gibbs potential on the convergence speed is investigated. Finally, a hybrid algorithm is developed to improve the efficiency of the stochastic scheme by integrating the Gibbs sampler-based method with the deterministic gradient-flow method. Simulation results are presented to illustrate the proposed approach and verify the analyses.},
	pages = {pp.  1107-1119},
	volume = {Vol. 42},
	number = {Issue 7},
	journal = {Automatica}
}
