Aggregation of foraging swarms

Authors:
Long Wang;Hong Shi;Tianguang Chu;Weicun Zhang;Lin Zhang
Affiliations:
Intelligent Control Laboratory, Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing, P R China;Intelligent Control Laboratory, Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing, P R China;Intelligent Control Laboratory, Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing, P R China;Automation Department, University of Science and Technology Beijing, Beijing, P R China;Computer Science Department, Naval Postgraduate School, Monterey, CA
Venue:
AI'04 Proceedings of the 17th Australian joint conference on Advances in Artificial Intelligence
Year:
2004

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Abstract

In this paper, we consider an anisotropic swarm model with an attraction/repulsion function and study its aggregation properties It is shown that the swarm members will aggregate and eventually form a cohesive cluster of finite size around the swarm center We also study the swarm cohesiveness when the motion of each agent is a combination of the inter-individual interactions and the interaction of the agent with external environment Moreover, we extend our results to more general attraction/repulsion functions The model in this paper is more general than isotropic swarms and our results provide further insight into the effect of the interaction pattern on individual motion in a swarm system.