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Accession Number ADA575759
Title SWARMS: Scalable sWarms of Autonomous Robots and Mobile Sensors.
Publication Date Mar 2013
Media Count 20p
Personal Author A. Jadbabaie A. S. Morse D. Koditschek F. Bullo V. Kumar
Abstract The SWARMS project brings together experts in artificial intelligence, control theory, robotics, systems engineering and biology with the goal of understanding swarming behaviors in nature and applications of biologically-inspired models of swarm behaviors to large networked groups of autonomous vehicles. The main goal is to develop a framework and methodology for the analysis of swarming behavior in biology and the synthesis of bio-inspired swarming behaviors for engineered systems. We are interested in such questions as: Can large numbers of autonomously functioning vehicles be reliably deployed in the form of a 'swarm' to carry out a prescribed mission and to respond as a group to high-level management commands. Can such a group successfully function without a designated leader, with limited communications between its members, and with dynamically changing 'role', for its members. Is there a hierarchy of 'compatibls' models appropriate to swarming/schooling/flocking which is rich enough to explain these behaviors at various 'resolution' ranging from aggregate characterizations of emergent behavior to detailed descriptions which model individual vehicle dynamics.
Keywords Aerial robots
Artificial intelligence
Autonomous agents
Autonomous navigation
Autonomous robots
Autonomous vehicles
Constraint awareness
Control algorithms
Control theory
Deterministic gossiping
Distributed control
Dynamic vehicle routing
Gossip algorithms
Graph theory
Group behavior
Mobile sensors
Model predictive control
Multi-robot deployment
Multiagent systems
Robotic swarms
Sensor fusion
Swarm systems
Swarming behavior
Systems engineering
Unmanned aerial vehicles
Unmanned underwater vehicles

Source Agency Non Paid ADAS
NTIS Subject Category 57C - Botany
57Z - Zoology
62 - Computers, Control & Information Theory
76D - Navigation Systems
Corporate Author Pennsylvania Univ., Philadelphia.
Document Type Technical report
Title Note Final rept. 1 May 2005-9 Jul 2012.
NTIS Issue Number 1319
Contract Number W911NF-05-1-0219

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