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Modeling and simulation of swarms for collecting objects

Published online by Cambridge University Press:  31 October 2005

Yangmin Li  and
Xin Chen
Yangmin Li
Affiliation:
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av.Padre Tomás Pereira S.J., Taipa, Macau SAR (P. R. China)
Xin Chen
Affiliation:
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av.Padre Tomás Pereira S.J., Taipa, Macau SAR (P. R. China)
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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.

Keywords

Swarm intelligenceMacroscopic modelIndividual-based modelMarkov processNon-smooth system
Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006 , pp. 315 - 324
Copyright
2005 Cambridge University Press

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