Open AccessBimodal Dynamic Swarms
Author(s) -
Peter Travis Jardine,
Sidney N. Givigi
Publication year - 2022
Publication title -
ieee access
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.587
H-Index - 127
ISSN - 2169-3536
DOI - 10.1109/access.2022.3198993
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
This paper presents a bimodal control strategy for transitioning between different topologies of flocking and dynamic structures. The work is motivated by applications where agents must pursue and close in on a target prior to carrying out more sophisticated tasks. Specifically, it builds on previous work in consensus-based flocking to define a new type of dynamic target pursuit and capturing method called dynamic enspherement. The problem is formulated in terms of the canonical Reynolds rules and overlapping planes of encirclement using quaternions of arbitrary orientation. A new method for transitioning between flocking and enspherement is presented, the smoothness of which is demonstrated mathematically. The proposed approach is validated in a series of simulations on swarms of particles with double-integrator dynamics.