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SAB
2004
Springer

Swarming Behavior Using Probabilistic Roadmap Techniques

10 years 9 months ago
Swarming Behavior Using Probabilistic Roadmap Techniques
While techniques exist for simulating swarming behaviors, these methods usually provide only simplistic navigation and planning capabilities. In this review, we explore the benefits of integrating roadmap-based path planning methods with flocking techniques to achieve different behaviors. We show how group behaviors such as exploring can be facilitated by using dynamic roadmaps (e.g., modifying edge weights) as an implicit means of communication between flock members. Extending ideas from cognitive modeling, we embed behavior rules in individual flock members and in the roadmap. These behavior rules enable the flock members to modify their actions based on their current location and state. We propose new techniques for several distinct group behaviors: homing, exploring (covering and goal searching), passing through narrow areas and shepherding. We present results that show that our methods provide significant improvement over methods that utilize purely local knowledge and more...
O. Burçhan Bayazit, Jyh-Ming Lien, Nancy M.
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where SAB
Authors O. Burçhan Bayazit, Jyh-Ming Lien, Nancy M. Amato
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