DHPC Technical Report DHPC-118
Simulating Swarm Behaviour of Robots
K.A.Hawick and H.A.James
Published in Proc. IASTED Int. Conf. on Applied Modelling and Simulation
(AMS2002), Cambridge, Nov 2002.
Archived 9 September 2002.
Abstract
We describe simple simulation models of collective swarm behaviour of
simple robots. We have experimented with mixed avoidance and seeking
behaviour using tri-wheeled robots using simple ultrasonic proximity
sensors. Our model assumes a radial distance of attraction or
repulsion and supports multiple species in the swarm based on sensor
recognition protocols. We describe the surprising success of our
model in predicting the gross and statistical behaviour of our swarm
and discuss limitations and potential improvements to the model. We
also discuss scaling experiments to large swarm sizes and ideas for a
more detailed discrete event model for verification purposes. We
also speculate on thermal physics model analogies to the swarm and how
these can be parameterised.
Keywords:swarm; robots; simulation; statistical physics.
PDF version
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