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Erschienen in:
2009 | OriginalPaper | Buchkapitel
Safety and Security Multi-agent Systems
Research Results from 2004-2006
verfasst von : Diana Spears, Wesley Kerr, William Spears
Erschienen in: Safety and Security in Multiagent Systems
Verlag: Springer Berlin Heidelberg
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This paper is concerned with assuring the safety of a swarm of agents (simulated robots). Such behavioral assurance is provided with the physics method called
kinetic theory
. Kinetic theory formulas are used to predict the macroscopic behavior of a simulated swarm of individually controlled agents. Kinetic theory is also the method for controlling the agents. In particular, the agents behave like particles in a moving gas.
The coverage task addressed here involves a dynamic search through a bounded region, while avoiding multiple large obstacles, such as buildings. In the case of limited sensors and communication, maintaining spatial coverage – especially after passing the obstacles – is a challenging problem. Our kinetic theory solution simulates a gas-like swarm motion, which provides excellent coverage. Finally, experimental results are presented that determine how well the macroscopic-level theory, mentioned above, predicts simulated swarm behavior on this task.