Modeling and simulation of swarms for collecting objects

Yangmin Li, Xin Chen

Research output: Journal article publicationJournal articleAcademic researchpeer-review

14 Citations (Scopus)


A mathematic model is established to describe a swarm with multi-behavior. Regarding a swarm designed for cooperative task, we propose a model which includes a macroscopic model and a individual-based model. The macroscopic framework model describes global dynamics of swarms, which is normally expressed by dynamical populations' densities with different behaviors, while the individual-based framework model describes a individual agent's trajectory. Based on these models, we prove that all objects can be collected to the "home" area under conditions of individual agents subject to sensor constraints.
Original languageEnglish
Pages (from-to)315-324
Number of pages10
Issue number3
Publication statusPublished - 1 May 2006
Externally publishedYes


  • Individual-based model
  • Macroscopic model
  • Markov process
  • Non-smooth system
  • Swarm intelligence

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications


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