Springer Handbook of Computational Intelligence

pp 1423-1432

Probabilistic Modeling of Swarming Systems

  • Nikolaus CorrellAffiliated withDep. Computer Science, University of Colorado at Boulder Email author 
  • , Heiko HamannAffiliated withDep. Computer Science, Universtity of Paderborn

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This chapter provides on overview on probabilistic modeling of swarming systems. We first show how population dynamics models can be derived from the master equation in physics. We then present models with increasing complexity and with varying degrees of spatial dynamics. We will first introduce a model for collaboration and show how macroscopic models can be used to derive optimal policies for the individual robot analytically. We then introduce two models for collective decisions; first modeling spatiality implicitly by tracking the number of robots at specific sites and then explicitly using a Fokker–Planck equation. The chapter is concluded with open challenges in combining non-spatial with spatial probabilistic modeling techniques.