Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics

Matthias Vigelius, Bernd Meyer and Geoffrey Pascoe

PLOS ONE, 2014, vol. 9, issue 11, 1-19

Abstract: We present a unified approach to describing certain types of collective decision making in swarm robotics that bridges from a microscopic individual-based description to aggregate properties. Our approach encompasses robot swarm experiments, microscopic and probabilistic macroscopic-discrete simulations as well as an analytic mathematical model. Following up on previous work, we identify the symmetry parameter, a measure of the progress of the swarm towards a decision, as a fundamental integrated swarm property and formulate its time evolution as a continuous-time Markov process. Contrary to previous work, which justified this approach only empirically and a posteriori, we justify it from first principles and derive hard limits on the parameter regime in which it is applicable.

Date: 2014
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Citations: View citations in EconPapers (3)

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Persistent link: https://EconPapers.repec.org/RePEc:plo:pone00:0111542

DOI: 10.1371/journal.pone.0111542

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