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Autonomous Robots

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31-01-2019

Mosquito-inspired distributed swarming and pursuit for cooperative defense against fast intruders

Authors: Daigo Shishika, Derek A. Paley

Published in: Autonomous Robots | Issue 7/2019

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Abstract

Inspired by the swarming behavior of male mosquitoes that aggregate to attract and subsequently pursue a female mosquito, we study how random swarming motion in autonomous vehicles affects the success of target capture. We consider the scenario in which multiple guardians with limited perceptual range and bounded acceleration are deployed to protect an area from an intruder. The main challenge for the guardian (male mosquito) is to quickly respond to a fast intruder (female) by matching its velocity. We focus on the motion strategy for the guardians before they perceive the intruder, which we call the swarming phase. In the parameter space consisting of the intruder’s speed and guardians’ ability (i.e., maximum acceleration and perceptual range) we identify necessary and sufficient conditions for target capture. We propose a swarming algorithm inspired by the behavior of male mosquitoes to improve the target-capture capability. The theoretical results are illustrated by experiments with an indoor quadrotor swarm.

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Title: Mosquito-inspired distributed swarming and pursuit for cooperative defense against fast intruders
Authors: Daigo Shishika
Derek A. Paley
Publication date: 31-01-2019
Publisher: Springer US
Published in: Autonomous Robots / Issue 7/2019
Print ISSN: 0929-5593
Electronic ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-018-09827-y

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