Delay induced swarm pattern bifurcations in mixed reality experiments

Statement of the Problem:  Natural swarms exhibit patterns in a variety of forms and have inspired researchers to understand how simple organisms produce complex, emergent patterns occurring when individual organisms follow simple dynamics and local rules. Our work provides a model for swarming behavior of coupled mobile agents with communication-time delay which exhibits multiple dynamic patterns in space, which depend on interaction strength and communication delay. Methodology & Theoretical Orientation: A thorough bifurcation analysis has been carried out to explore parameter regions where various patterns occur. We extend this work to robotics applications by introducing a mixed-reality framework in which real and simulated robots communicate in real time creating the self-organized states predicted by the theory. The mixed-reality framework allows for systematic and incremental introduction of real-world complexity by coupling a few real robots and a large number of idealized (virtual) robots together in a swarm - the latter being well understood. Findings: The proposed swarm controller was tested on two different robotic platforms: NRL’s autonomous air vehicles and UPENN’s micro-autonomous surface vehicles on water. Theoretical pattern formation results are confirmed in mixed-reality experiments. Conclusion & Significance: Increased understanding of challenges for real robots is obtained as a systematic, incremental verification of swarming behavior at low cost and risk of damage.  Switching between patterns is achieved in the hybrid experiments, thus simulating flexibile behavior of the real robotic system.

Author(s): Ioana Triandaf

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