A mathematical model of a 2D homogeneous swarm of robots

Resumo

We present a simulation of the behavior of a homogeneous group of robots in an environment with obstacles. The problems of 2D flight of robots to different target objects were considered. The questions of the mutual dependence between local control rules and global adaptive group behavior and the synthesis of group control were studied and an analysis of the controllability of the group targets in environment with obstacles was performed. The results of the simulation are presented and examples of the operation of the simulation program are given.