Dynamic coordinated control laws in multiple agent models
arXiv:nlin/0510041 · doi:10.1016/j.physleta.2005.03.074
Abstract
We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in \cite{JK04}, gives rise to spontaneous collective organization of agents into a unified coherent swarm, via a long-range attractive and short-range repulsive potential. We extend these results by presenting control laws whereby a single swarm is broken into independently functioning subswarm clusters. The transition between one coordinated swarm and multiple clustered subswarms is managed simply with a homotopy parameter. Additionally, we present as an alternate formulation, a local control law for the same model, which implements dynamic barrier avoidance behavior, and in which swarm coherence emerges spontaneously.
20 pages, 6 figures
References in corpus (3)
Cited by in corpus (9)
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- Pattern-Acquisition in Finite, Heterogenous, Delay-Coupled Swarms
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- Noise Induced Pattern Switching in Randomly Distributed Delayed Swarm Patterns