State-of-the-Art in Modeling and Design of Swarms

Abstract

In the first two parts of this chapter, a variety of models originating in different fields is presented. All these models might potentially be applied to swarms of robots although they were originally developed to describe systems or swarms of molecules, insects, mammals, people, or only small groups of robots.

In the third part, the current state-of-the-art in designing emergent behavior, that is, the design of control algorithms for individuals of decentral systems operating on the basis of local information only, is presented.