Applying Scale-Invariant Dynamics to Improve Consensus Achievement of Agents in Motion
In order to efficiently execute tasks, autonomous collective systems are required to rapidly reach accurate consensus, no matter how the group is distributed over the environment. Finding consensus in a group of agents that are in motion is a particularly great challenge, especially at larger scales and extensive environments. Nevertheless, numerous collective systems in nature reach consensus independently of scale, i.e. they are scale-free or scale-invariant. Inspired by these natural phenomena, the aim of our work is to improve consensus achievement in artificial systems by finding fundamental links between individual decision-making and scale-free collective behavior. For model validation we use physics-based simulations as well as a swarm robotic testbed.
KeywordsConsensus achievement Scale invariance Swarm robotics