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Erratum to: Fluid-Like Swarms with Predictable Macroscopic Behavior

  • Diana Spears
  • Wesley Kerr
  • William Spears
Erratum
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4324)

Abstract

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.

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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