A control method of a center of a swarm on collective motion in three-dimensional space

This paper describes a method that is extended to three-dimensional space newly, to organize and to control mobile agents only by employing simple virtual interactive forces. The point of the method is that two transfer functions (one from the command from supervising operator and the other from the influences of obstacles to the collective motion) can be designed independently. First, the difference of the response is investigated using various parameters in dynamics of the agent and the center of the swarm. Second, the simulations illustrate that a collective motion can be performed in the space with various obstacles successfully avoiding them. Third, the influence of the accidents is examined. As a consequence, it is clear that the extended method to three-dimensional space enables the swarm that consists of the agents keeping autonomy to be control.