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Motion Planning and Control of a Swarm of Boids in a 3-Dimensional Space

Sharma, Bibhya N. and Vanualailai, Jito and Raj, Jai (2014) Motion Planning and Control of a Swarm of Boids in a 3-Dimensional Space. International Journal of Mathematical, Computational Science and Engineering, 8 . pp. 247-252. ISSN 2070-3740

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In this paper, we propose a solution to the motion planning and control problem for a swarm of three-dimensional boids. The swarm exhibit collective emergent behaviors within the vicinity of the workspace. The capability of biological systems to autonomously maneuver, track and pursue evasive targets in a cluttered environment is vastly superior to any engineered system. It is considered an emergent behavior arising from simple rules that are followed by individuals and may not involve any central coordination. A generalized, yet scalable algorithm for attraction to the centroid and inter-individual swarm avoidance is proposed. We present a set of new continuous time-invariant velocity control laws, formulated via the Lyapunov-based control scheme for target attraction and collision avoidance. The controllers provide a collision-free trajectory. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the control laws is demonstrated via computer simulations.

Item Type: Journal Article
Subjects: Q Science > Q Science (General)
Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Bibhya Sharma
Date Deposited: 01 Jun 2015 03:30
Last Modified: 26 May 2016 03:23

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