Safety and Security Multi-agent Systems

Research Results from 2004-2006
  • Diana Spears
  • Wesley Kerr
  • William Spears
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4324)


This paper is concerned with assuring the safety of a swarm of agents (simulated robots). Such behavioral assurance is provided with the physics method called kinetic theory. Kinetic theory formulas are used to predict the macroscopic behavior of a simulated swarm of individually controlled agents. Kinetic theory is also the method for controlling the agents. In particular, the agents behave like particles in a moving gas.

The coverage task addressed here involves a dynamic search through a bounded region, while avoiding multiple large obstacles, such as buildings. In the case of limited sensors and communication, maintaining spatial coverage – especially after passing the obstacles – is a challenging problem. Our kinetic theory solution simulates a gas-like swarm motion, which provides excellent coverage. Finally, experimental results are presented that determine how well the macroscopic-level theory, mentioned above, predicts simulated swarm behavior on this task.


Kinetic Theory Average Speed Multiagent System Macroscopic Behavior Wall Velocity 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Diana Spears
    • 1
  • Wesley Kerr
    • 1
  • William Spears
    • 1
  1. 1.Department of Computer ScienceUniversity of WyomingLaramie

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