相关论文: Swarm consensus
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
Sensory mechanisms in biology, from cells to humans, have the property of adaptivity, whereby the response produced by the sensor is adapted to the overall amplitude of the signal; reducing the sensitivity in the presence of strong…
We introduce a multi-agent model for exploring how selection of neighbours determines some aspects of order and cohesion in swarms. The model algorithm states that every agents' motion seeks for an optimal distance from the nearest…
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…
Swarm intelligence is all about developing collective behaviours to solve complex, ill-structured and large-scale problems. Efficiency in collective behaviours depends on how to harmonise the individual contributions so that a complementary…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Peer-to-peer systems are the most resilient form of distributed computing, but the design of robust protocols for their coordination is difficult. This makes it hard to specify and reason about global behaviour of such systems. This paper…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
Swarm intelligence algorithms have traditionally been designed for continuous optimization problems, and these algorithms have been modified and extended for application to discrete optimization problems. Notably, their application in…
We establish average consensus on graphs with dynamic topologies prescribed by evolutionary games among strategic agents. Each agent possesses a private reward function and dynamically decides whether to create new links and/or whether to…
Understanding the characteristics of swarming autonomous agents is critical for defense and security applications. This article presents a study on using supervised neural network time series classification (NN TSC) to predict key…
Collective behaviour is a widespread phenomenon in biology, cutting through a huge span of scales, from cell colonies up to bird flocks and fish schools. The most prominent trait of collective behaviour is the emergence of global order:…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
We propose a new kind of collective motion where swarms of simple agents are able to find and fix the solution of two-dimensional mazes. The model consists of active memoryless particles interacting exclusively via short-ranged perception…
Wasps, bees, ants and termites all make effective use of their environment and resources by displaying collective swarm intelligence. Termite colonies - for instance - build nests with a complexity far beyond the comprehension of the…
Large swarms of autonomous devices are increasing in size and importance. When it comes to controlling the devices of large-scale swarms there are two main lines of thought. Centralized control, where all decisions - and often compute -…
The simultaneous control of multiple coordinated robotic agents represents an elaborate problem. If solved, however, the interaction between the agents can lead to solutions to sophisticated problems. The concept of swarming, inspired by…
We present a biologically inspired design for swarm foraging based on ant's pheromone deployment, where the swarm is assumed to have very restricted capabilities. The robots do not require global or relative position measurements and the…
Computational models of collective behavior in birds has allowed us to infer interaction rules directly from experimental data. Using a generic form of these rules we explore the collective behavior and emergent dynamics of a simulated…