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Animation 1 - 5AGV formation with obstacles: 5 autonomously guided vehicles (AGV) are trying to follow individual desired trajectories. These trajectories are shown as the blue lines. The black circles represent solid obstacles that the particles must avoid. Potential impedance law is deployed to avoid these obstacles. The AGVs aim to keep a minimum distance from the nearest neighbors as they avoid the obstacles. This distorts the trajectory tracking but the path is recovered successfully.
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Animation 2 - Group Pursuit : It demonstrates a heuristically driven pursuit of evaders by a group of autonomous agents. The control logic resembles that of social predators. The pursuers (red) adjust their positions and headings according to those of other pursuers, and also according to the evaders (blue). The result is a loose formation from which members deviate to intercept nearby targets. In this simulation, the pursuers are faster than the evaders, but the evaders have a sharper turning angle and turn abruptly when capture is imminent. Solitary pursuers therefore catch few evaders. However, when the pursuers move in groups, their frontal spacing allows group members to catch evaders that have turned to avoid the leading pursuer. |
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Animation 3-4 - Predator (black) and Prey (red) dynamics : Two different
parametric conditions are animated below for the predators and preys
following the green curser in real time. Predators are attracted to the
preys once they detect one of them in a detection zone.
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Animation 5-6 - Predator (black) and Prey (red) dynamics : The two scenarios below (from the submitted conference paper, "Swarm Coordination Under Conflict", submitted to 2009 ACC) represent heterogenous swarm interactions without control damping (Animation 5) and with control damping (Animation 6)
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Swarm
Time Delay Stability Analysis
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