Abstract
We suggest a mechanism for leading a team of mobile, oblivious, identical and indistinguishable agents in desired directions. The agents are assumed to have a compass, i.e. a common North direction, and bearing only sensing within a limited visibility range, and may receive a direction-control broadcast with some given probability. We prove that, under the suggested guidance rule, the swarm of agents gathers to a small disk in the plane and moves in the desired direction with an expected velocity dependent on the probability of receiving the control signal.
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Manor, R., Bruckstein, A.M. (2018). Guidance of Swarms with Agents Having Bearing Only and Limited Visibility Sensors. In: Dorigo, M., Birattari, M., Blum, C., Christensen, A., Reina, A., Trianni, V. (eds) Swarm Intelligence. ANTS 2018. Lecture Notes in Computer Science(), vol 11172. Springer, Cham. https://doi.org/10.1007/978-3-030-00533-7_4
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