Kumar, Sandeep A. and Chand, Kunal and Paea, Lata I. and Thakur, Imanuel and Vatikani, Maria (2022) Herding predators using swarm intelligence. [Conference Proceedings]
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Abstract
Swarm intelligence, a nature-inspired concept that includes multiplicity, stochasticity, randomness, and messiness is emergent in most real-life problem-solving. The concept of swarming can be integrated with herding predators in an ecological system. This paper presents the development of stabilizing velocity-based controllers for a Lagrangian swarm of n∈N individuals, which are supposed to capture a moving target (intruder). The controllers are developed from a Lyapunov function, total potentials, designed via Lyapunov-based control scheme (LbCS) falling under the classical approach of artificial potential fields method. The interplay of the three central pillars of LbCS, which are safety, shortness, and smoothest course for motion planning, results in cost and time effectiveness and efficiency of velocity controllers. Computer simulations illustrate the effectiveness of control laws.
| Item Type: | Conference Proceedings |
|---|---|
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | School of Information Technology, Engineering, Mathematics and Physics (STEMP) |
| Depositing User: | Ms Shalni Sanjana |
| Date Deposited: | 17 Mar 2022 23:52 |
| Last Modified: | 29 Aug 2022 20:33 |
| URI: | https://repository.usp.ac.fj/id/eprint/13321 |
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