A 3D Discrete-Continuum Swarm Intelligence Simulation on GPU for Swarm Robotics and Biomedical Applications
In this paper we present a new 3D simulation environment, combining features of both discrete swarm agents and continuous environment defined implicitly as a locally updatable zero-level set surface. The advantage of the proposed framework is the natural support for swarm coordination, as well as for adding other continuum based processes, such as the Eulerian numerical simulation of fluid dynamics equations. In most biomedical applications the influence of gaseous/liquid flows and concentrations becomes a key aspect in any viable model. The level set equations are solved using the finite element method (FEM), which is routinely used for analysing physical properties such as aseous/liquid flows, heat transfer, diffusion and reaction etc.
KeywordsGraphic Processing Unit Linked List Swarm Robotic Deposition Probability Royal Chamber
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