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. © 2009 Springer Berlin Heidelberg.
CITATION STYLE
Spears, D., Kerr, W., & Spears, W. (2009). Safety and security multi-agent systems research results from 2004-2006. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4324 LNAI, pp. 175–190). https://doi.org/10.1007/978-3-642-04879-1_13
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