This project implements various multiagent coordination techniques, including:
- Reynolds rules of flocking ("boids")
- Olfati-Saber flocking
- Starling flocking
- Dynamic Encirclement
- Pinning Control
- Arbitrary Closed Curves
All agents make individual decisions based on local information only. There is no global plan. The code builds on our earlier work in Swarming Simulator v3
Video of autonomous assembly of closed curves with random arrival and depature. The closed curves include Lemniscates of Bernoulli and Gerono and a Dumbbell Curve:
This plot demonstrates the agents automatically tightening up their spacing, as more agents join the swarm:
More demonstration of lemniscates of Bernoulli and Gerono (with phase shift) in a cluttered environment:
Here is a Dumbbell Curve, also in a cluttered environment:
This program also implements Pinning Control with autonomous pin selection based on Controlability Gramian:
- Craig Reynolds, "Flocks, Herds, and Schools:A Distributed Behavioral Model", Computer Graphics, 21(4) (SIGGRAPH '87 Conference Proceedings), pages 25-34, 1987.
- Reza Olfati-Saber, "Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory", IEEE Transactions on Automatic Control, Vol. 51 (3), 2006.
- H. Hildenbrandt, C. Carere, and C.K. Hemelrijk,"Self-organized aerial displays of thousands of starlings: a model", Behavioral Ecology, Volume 21, Issue 6, pages 1349–1359, 2010.
- P. T. Jardine and S. N. Givigi, "Bimodal Dynamic Swarms", IEEE Access, vol. 10, pp. 94487-94495, 2022.
- P. T. Jardine and S. N. Givigi, "Flocks, Mobs, and Figure Eights: Swarming as a Lemniscatic Arch", IEEE Transactions on Network Science and Engineering, 2022.
- Kléber M. Cabral, Sidney N. Givigi, and Peter T. Jardine, Autonomous assembly of structures using pinning control and formation algorithms in 2020 IEEE International Systems Conference (SysCon), 07 Dec 2020
The code is opensource but, if you reference this work in your own reserach, please cite me. I have provided an example bibtex citation below:
@techreport{Jardine-2023, title={Multiagent Coordination Simulator}, author={Jardine, P.T.}, year={2023}, institution={Royal Military College of Canada, Kingston, Ontario}, type={GitHub Repository}, }
Alternatively, you can cite any of my related papers, which are listed in Google Scholar.