Enabling Emergent Behaviors in Unmanned Robotic Swarm Systems
Abstract
The goal of this project is to rigorously study the effect of collisions and collision avoidance on emergent behaviors in robotic swarm systems. Many existing works provide theoretical distributed algorithms for such systems but the vast majority of them simply consider point-mass systems where the agents are not able to collide with one another. On the contrary, we are interested in scenarios with large numbers of agents in the swarm in which collisions are considered ‘catastrophic’ in that a collision disables all the participating agents (e.g., miniature unarmored UAVs [9]). We are then concerned with identifying conditions on exactly when enabling such physical constraints disrupts the intended global behavior of the swarm.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 25, 2019
- Source ID
- N000141912121
Entities
People
- Cameron Nowzari
Organizations
- George Mason University
- Office of Naval Research
- United States Navy