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Modeling and simulation of swarms for collecting objects
Yangmin Li, Xin Chen
Journal:

Robotica / Volume 24 / Issue 3 / May 2006

Published online by Cambridge University Press:

31 October 2005, pp. 315-324
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A mathematic model is established to describe a swarm with multi-behavior. Regarding a swarm designed for cooperative task, we propose a model which includes a macroscopic model and a individual-based model. The macroscopic framework model describes global dynamics of swarms, which is normally expressed by dynamical populations' densities with different behaviors, while the individual-based framework model describes a individual agent's trajectory. Based on these models, we prove that all objects can be collected to the “home” area under conditions of individual agents subject to sensor constraints.