The Swarm/Potential Model: Modeling Robotics Swarms with Measure-valued Recursions Associated to Random Finite Sets
نویسندگان
چکیده
We propose the S/P model (swarm/potential model) to describe the dynamics of robot swarms—that is, large groups of robots that coordinate without the use of any form of central control. The S/P model is a set of measure-valued equations that model the temporal evolution of a robot swarm and of a potential function that the swarm uses to self-coordinate. The S/P model is based on random finite sets (RFS), a general formalism for modeling multi-object systems. In this paper, we illustrate the S/P model by using it to describe and analyse three swarm robotics systems; we use particle approximations for the numerical solution of the model.
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