5 research outputs found
Declarative vs Rule-based Control for Flocking Dynamics
The popularity of rule-based flocking models, such as Reynolds' classic
flocking model, raises the question of whether more declarative flocking models
are possible. This question is motivated by the observation that declarative
models are generally simpler and easier to design, understand, and analyze than
operational models. We introduce a very simple control law for flocking based
on a cost function capturing cohesion (agents want to stay together) and
separation (agents do not want to get too close). We refer to it as {\textit
declarative flocking} (DF). We use model-predictive control (MPC) to define
controllers for DF in centralized and distributed settings. A thorough
performance comparison of our declarative flocking with Reynolds' model, and
with more recent flocking models that use MPC with a cost function based on
lattice structures, demonstrate that DF-MPC yields the best cohesion and least
fragmentation, and maintains a surprisingly good level of geometric regularity
while still producing natural flock shapes similar to those produced by
Reynolds' model. We also show that DF-MPC has high resilience to sensor noise.Comment: 7 Page
The influence of limited visual sensing on the Reynolds flocking algorithm
The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which consists in the analysis of the effects of limited sensing on the behavior of the swarm. In nature, the central sensor modality often used for achieving flocking is vision. In this work, we study how the reduction in the field of view and the orientation of the visual sensors affect the performance of the Reynolds flocking algorithm used to control the swarm. To quantify the impact of limited visual sensing, we introduce different metrics such as (i) order, (ii) safety, (iii) union and (iv) connectivity. As Nature suggests, our results confirm that lateral vision is essential for coordinating the movements of the individuals. Moreover, the analysis we provide will simplify the tuning of the Reynolds flocking algorithm which is crucial for real-world deployment and, especially for aerial swarms, it depends on the envisioned application. We achieve the results presented in this paper through extensive Monte-Carlo simulations and integrate them with the use of genetic algorithm optimization
Foundations of Software Science and Computation Structures
This open access book constitutes the proceedings of the 23rd International Conference on Foundations of Software Science and Computational Structures, FOSSACS 2020, which took place in Dublin, Ireland, in April 2020, and was held as Part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2020. The 31 regular papers presented in this volume were carefully reviewed and selected from 98 submissions. The papers cover topics such as categorical models and logics; language theory, automata, and games; modal, spatial, and temporal logics; type theory and proof theory; concurrency theory and process calculi; rewriting theory; semantics of programming languages; program analysis, correctness, transformation, and verification; logics of programming; software specification and refinement; models of concurrent, reactive, stochastic, distributed, hybrid, and mobile systems; emerging models of computation; logical aspects of computational complexity; models of software security; and logical foundations of data bases.
Foundations of Software Science and Computation Structures
This open access book constitutes the proceedings of the 23rd International Conference on Foundations of Software Science and Computational Structures, FOSSACS 2020, which took place in Dublin, Ireland, in April 2020, and was held as Part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2020. The 31 regular papers presented in this volume were carefully reviewed and selected from 98 submissions. The papers cover topics such as categorical models and logics; language theory, automata, and games; modal, spatial, and temporal logics; type theory and proof theory; concurrency theory and process calculi; rewriting theory; semantics of programming languages; program analysis, correctness, transformation, and verification; logics of programming; software specification and refinement; models of concurrent, reactive, stochastic, distributed, hybrid, and mobile systems; emerging models of computation; logical aspects of computational complexity; models of software security; and logical foundations of data bases.