Modeling and simulation of swarms for collecting objects

Authors:
Yangmin Li;Xin Chen
Affiliations:
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av.Padre Tomás Pereira S.J., Taipa, Macau SAR (P. R. China);Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av.Padre Tomás Pereira S.J., Taipa, Macau SAR (P. R. China)
Venue:
Robotica
Year:
2006

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Abstract

A mathematic model is established to describe a swarm with multi-behavior. Regarding a swarm designed for cooperative task, we propose a model which includes a macroscopic model and a individual-based model. The macroscopic framework model describes global dynamics of swarms, which is normally expressed by dynamical populations' densities with different behaviors, while the individual-based framework model describes a individual agent's trajectory. Based on these models, we prove that all objects can be collected to the “home” area under conditions of individual agents subject to sensor constraints.