Abstract
In physical realizations of Swarms, the interactions are restricted to short range in order to avoid time-delays and complexity of connections. However, short-range interactions restrict the Swarm to low-order equations. In order to take full advantage of the possibility of producing patterns generated by higher order differential equations while maintaining physical locality of interaction, and hence guarantee no communication time delays, we have recast the model so that only nearest neighbor interactions are considered. The tradeoff is that each Swarm unit updates n variables (a multi-channel process) where n is the order of the differential equation. We show by simulation and experiments on systems of microprocessors that the multi-channel algorithm converges and that the rate of convergence is not slower than for the standard Swarm algorithm. Hence, strictly local high-order Swarms appear to be practically realizable.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
G. Beni, “Distributed Robotic Systems and Swarm Intelligence,” Journal of the Robot Society of Japan, vol. 10, #4, pp. 31–37 (in Japanese).
G Beni and S. Hackwood, “Stationary Waves in Cyclic Swarms”, Proc. of 1992 IEEE International Symposium on Intelligent Control, Glasgow, UK, August 10–13, 1992.
G. Beni and S. Hackwood, “Coherent Swarm Motion under Distributed Control,” Proc of the Intl. Symposium on Distributed Autonomous Robotic Systems, Riken, Wakoshi, Japan, September 21–22, 1992.
S. Hackwood, G. Beni and X. Liu, “Rate of reconfiguration convergence in Swarms” IEEE Conf. on Robotics and Automation, San Diego, CA, May 1994.
G. Beni and P. Liang “Pattern Reconfiguration in Swarms” (CoE Technical Report 3-94-1); and (to be published).
Q. Huang “Partially and Totally Asynchronous Algorithms for Linear Swarms” Masters Thesis, Department of Computer Science, University of California, Riverside (June 1994).
S. Hackwood, G. Beni, X. Liu, “Rate of reconfiguration convergence in Swarm,” accepted by IEEE Conference on Robotics and Automation, San Diego, June, 1994.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1994 Springer-Verlag Tokyo
About this paper
Cite this paper
Beni, G., Hackwood, S., Liu, X. (1994). High-order Strictly Local Swarms. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_24
Download citation
DOI: https://doi.org/10.1007/978-4-431-68275-2_24
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-68277-6
Online ISBN: 978-4-431-68275-2
eBook Packages: Springer Book Archive