Behavioural Control of Autonomous Swarms  Fulltext 

[ Alasty ] - Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Azadi Ave., Tehran, Iran.
[ Etemadi ] - Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Azadi Ave., Tehran, Iran.
[ Roshan-Ghalb ] - Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Azadi Ave., Tehran, Iran.

خلاصه مقاله:

This paper presents a control strategy of autonomous multi-agent systems. First we briefly discuss a quasi static swarm model in n-dimensional space introduced in an earlier paper, in which inter-individual interactions are based on artificial potential functions and the motion of individuals is along the negative gradient of the combined potential. After that we consider a general model for vehicle dynamics of each agent, and force their motion to obey the quasi static model. This is performed using a PID controller and performances are compared with a previously designed controller.

Formation control, swarm and multi-agent systems, behavioural control.