Modelling and stability analysis of emergent behavior of scalable swarm system

INTRODUCTION There is increasing interest in the dynamics andcontrol of group behavior of intelligent vehicularswarms, for example, systems of multiple unmannedair vehicles (UAVs). Research activity on this topichas benefited from the participation of experts fromareas as diverse as biology, physics and engineering.Familiar examples of group behavior in biology, suchas herds of animals, flocks of birds, and swarms ofinsects, have served as an important motivating factorin this research …

Modelling and stability analysis of emergent behavior of scalable swarm system

In this paper we propose a two-layer emergent model for scalable swarm system. The first layer describes the indi-vidual flocking behavior to the local goal position (the center of minimal circumcircle decided by the neighbors in the positive visual set of individuals) resulting from the individual motion to one or two farthest neighbors in its positive visual set; the second layer describes the emergent aggregating swarm behavior resulting from the individual motion to its local goal position. The scale of the swarm will not be limited because only local individual information is used for modelling in the two-layer topology. We study the stability properties of the swarm emergent behavior based on Lyapunov stability theory. Simulations showed that the swarm system can converge to goal regions while maintaining cohesiveness.