An Adaptive Metric Model for Collective Motion Structures in Dynamic Environments

Stef Van Havermaet*, Pieter Simoens, Yara Khaluf

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperAcademicpeer-review

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationSwarm Intelligence - 13th International Conference, ANTS 2022, Proceedings
EditorsMarco Dorigo, Volker Strobel, Christian Camacho-Villalón, Heiko Hamann, Heiko Hamann, Manuel López-Ibáñez, José García-Nieto, Andries Engelbrecht, Carlo Pinciroli
Place of PublicationCham
PublisherSpringer
Pages257-265
Number of pages9
ISBN (Electronic)9783031201769
ISBN (Print)9783031201752
DOIs
Publication statusPublished - 29 Oct 2022
Event13th International Conference on Swarm Intelligence, ANTS 2022 - Malaga, Spain
Duration: 2 Nov 20224 Nov 2022

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13491
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference/symposium

Conference/symposium13th International Conference on Swarm Intelligence, ANTS 2022
Country/TerritorySpain
CityMalaga
Period2/11/224/11/22

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