Abstract:

Collective motions that consist of aggregation behavior and flocking behavior in n-dimensional (n≥2) spaces are studied for intelligent swarm. Based on individual local information a class of control laws for swarm behavior is proposed. The collective motion is analyzed with virtual force that is implemented by an attraction/repulsion function. By introduction of a convex hull method, a collective motion control for a twodimensional swarm is extended to n-dimensional swarm, and a distributed collective motion control for intelligent swarm in n-dimensional spaces based on local information is proposed. The stability properties of the swarm behavior are analyzed. Simulation results are presented to demonstrate the validity of the models.