Biomimetic Algorithms for Coordinated Motion: Theory and Implementation

Abstract

Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on mutual motion camouflage, an appropriate steering control law for area coverage has been implemented in a laboratory test-bed equipped with wheeled mobile robots and a Vicon high speed motion capture system. The same test-bed is also used to demonstrate another strategy (based on local information), termed topological velocity alignment, which serves to make agents move in the same direction. The present work illustrates the applicability of biological inspiration in the design of multi-agent robotic collectives.

References in corpus (4)

• Novel type of phase transition in a system of self-driven particles
• Interaction Ruling Animal Collective Behaviour Depends on Topological rather than Metric Distance: Evidence from a Field Study
• Hierarchical group dynamics in pigeon flocks
• Superfluid transport of information in turning flocks of starlings

Cited by in corpus (3)

• An Adaptive Fuzzy Reinforcement Learning Cooperative Approach for the Autonomous Control of Flock Systems
• A Policy Iteration Approach for Flock Motion Control
• Beacon-referenced Pursuit for Collective Motions in Three Dimensions