Swarm aggregation using emotional learning based intelligent controller

Abstract

In this paper, we consider a control strategy of multi-robot systems, or simply, swarms, based on emotional control technique. First, we briefly discuss a ldquokinematicrdquo swarm model in n-dimensional space introduced in an earlier paper. In that model, motion of every swarm member is governed by predefined inter-individual interactions. Limitations of every member's field of view are also considered in that model. After that, we consider a general model for vehicle dynamics of each swarm member, and use emotional control theory to force their motion to obey the dynamics of the kinematic model. Based on the kinematic model, stability (cohesion) analysis is performed and coordination controller is designed. In this context, the results serve as a possible implementation method for practical swarms with given vehicle dynamics. It is also considered that field of view of all members is limited. Every swarm member accesses its local information; which is the most important characteristic of this work.