SOCIAL POTENTIAL MODEL TO SIMULATE EMERGENT BEHAVIOUR FOR SWARM ROBOTS | ||
| The International Conference on Applied Mechanics and Mechanical Engineering | ||
| Article 51, Volume 13, 13th International Conference on Applied Mechanics and Mechanical Engineering., May 2008, Pages 33-47 PDF (367.14 K) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/amme.2008.39289 | ||
| Authors | ||
| MABROUK M. H.1; MCINNES C. R2 | ||
| 1PhD research student, Dept. of Mechanical Engineering, University of Strathclyde, Glasgow, UK. | ||
| 2Professor, Dept. of Mechanical Engineering, University of Strathclyde, Glasgow, UK. | ||
| Abstract | ||
| ABSTRACT Swarm robotics has a wide range of applications in numerous fields from space and subsea exploration to the deployment of teams of interacting artificial agents in disposal systems. In this paper, we introduce a model to simulate the emergent behaviour of multiagent robot systems, based on principles from physical mechanics. The model is based on mutual interactions among the swarm individuals. The main elements of these interactions are repulsion forces, attraction forces, alignment forces and dissipative forces generated by the swarm members. Using statistical tools, which are used to investigate simulated group behaviour, we discuss the importance of introducing some dissipation to the system as well as the effect of the interaction parameters on various components of the model. | ||
| Keywords | ||
| Robotics; Swarm robots; Emergent behaviour | ||
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