A New Metric for the Analysis of Swarms Using Potential Fields
| Autor: | Michael Brockway, Neil Eliot, David Kendall |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Computer science Swarming G400 General Engineering Swarming (honey bee) MathematicsofComputing_NUMERICALANALYSIS Swarm behaviour swarm metric 02 engineering and technology Fixed point Topology ComputingMethodologies_ARTIFICIALINTELLIGENCE Computer Science::Multiagent Systems 020901 industrial engineering & automation 020204 information systems Metric (mathematics) 0202 electrical engineering electronic engineering information engineering General Materials Science swarm dynamics lcsh:Electrical engineering. Electronics. Nuclear engineering Electrical and Electronic Engineering lcsh:TK1-9971 |
| Zdroj: | IEEE Access, Vol 6, Pp 63258-63267 (2018) |
| ISSN: | 2169-3536 |
| Popis: | There are many metrics defined for the analysis of swarm coordination algorithms. These metrics are usually based upon the distances between agents, the distance between agents and a fixed point, or the resultant vectors that potential field effects produce. This paper examines a distance-based metric that measures a swarm's overall structure using inter-agent distances. More importantly, it introduces a new metric that identifies a swarm's state based upon the resultant magnitude of the vectors produced by the agent interactions that create the agent distribution within the swarm's structure. The algorithms used to implement the swarming feature are based upon cohesion and repulsion vectors between an agent and its neighbors. In comparing and contrasting the two metrics, we find that the cohesion/repulsion metric offers a number of advantages over the distance metric. In particular, the cohesion/repulsion metric allows the identification of the essential characteristic of a swarm as “expanding,”“stable,” or “contracting.”These states cannot be identified using a distance-based metric. Practical swarming applications where the new metric can be applied advantageously include area-filling and reconnaissance. |
| Databáze: | OpenAIRE |
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