Dynamic coordinated control laws in multiple agent models

Details Dynamic coordinated control laws in multiple agent models Dynamic coordinated control laws in multiple agent models

2005-10-18

arxiv.org/abs/nlin/0510041v1

PHYSICS LETTERS A 340 (1-4): 121-131 JUN 6 2005

Nonlinear Sciences

Pattern Formation and Solitons

20 pages, 6 figures

Scientific paper

10.1016/j.physleta.2005.03.074

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.

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