TY - GEN
T1 - An Adaptive Metric Model for Collective Motion Structures in Dynamic Environments
AU - Van Havermaet, Stef
AU - Simoens, Pieter
AU - Khaluf, Yara
PY - 2022/10/29
Y1 - 2022/10/29
N2 - Robot swarms often use collective motion. Most models generate collective motion using the repulsion zone, alignment zone, and attraction zone. Despite being widely used, these models have a limited capacity for generating group structures in response to environmental stimuli. Enabling robot swarms to display proper spatial structures is crucial for several swarm robotics tasks. In this paper, we focus on three spatial structures that allow the swarm to adapt its aggregation (coverage) and alignment (order) in response to environmental changes. We show that the metric and long-range models are unable to generate every structure. We propose an extension to the metric model that allows the swarm to display the three structures, which is demonstrated in a simulated dynamic environment where different stimuli appear over time.
AB - Robot swarms often use collective motion. Most models generate collective motion using the repulsion zone, alignment zone, and attraction zone. Despite being widely used, these models have a limited capacity for generating group structures in response to environmental stimuli. Enabling robot swarms to display proper spatial structures is crucial for several swarm robotics tasks. In this paper, we focus on three spatial structures that allow the swarm to adapt its aggregation (coverage) and alignment (order) in response to environmental changes. We show that the metric and long-range models are unable to generate every structure. We propose an extension to the metric model that allows the swarm to display the three structures, which is demonstrated in a simulated dynamic environment where different stimuli appear over time.
U2 - 10.1007/978-3-031-20176-9_21
DO - 10.1007/978-3-031-20176-9_21
M3 - Conference paper
AN - SCOPUS:85142667870
SN - 9783031201752
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 257
EP - 265
BT - Swarm Intelligence - 13th International Conference, ANTS 2022, Proceedings
A2 - Dorigo, Marco
A2 - Strobel, Volker
A2 - Camacho-Villalón, Christian
A2 - Hamann, Heiko
A2 - Hamann, Heiko
A2 - López-Ibáñez, Manuel
A2 - García-Nieto, José
A2 - Engelbrecht, Andries
A2 - Pinciroli, Carlo
PB - Springer
CY - Cham
T2 - 13th International Conference on Swarm Intelligence, ANTS 2022
Y2 - 2 November 2022 through 4 November 2022
ER -