Macroscopic Modeling of Aggregation Experiments using Embodied Agents in Teams of Constant and Time-Varying Sizes

In this paper, we present discrete-time, nonspatial, macroscopic models able to capture the dynamics of collective aggregation experiments using groups of embodied agents endowed with reactive controllers. The strength of the proposed models is that they have been built up incrementally, with matching between models and embodied simulations verified at each step as new complexity was added. Precise heuristic criteria based on geometrical considerations and systematic tests

• Type: Journal
• Year: 2004
• Where: AROBOTS
• Authors: William Agassounon, Alcherio Martinoli, Kjerstin Easton
• Keywords: AROBOTS 2004, Macroscopic Models, Precise Heuristic Criteria, Reactive Controllers