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Emerging from
Asymmetry
K.SRI RAMACHANDRAN,
21UMT003
III-MTRE
Definition of Swarm Dynamics
Swarm dynamics are patterns of collective behavior that emerge from the actions and
interactions of a group of individuals. This behavior can be seen in a variety of natural and
artificial systems, including flocks of birds, schools of fish, and swarms of robots.
Heterogeneity of Swarm:
Asymmetry in individual behavior can influence the dynamics of the swarm as a whole. Differences
in speed, strength, or decision-making abilities can affect how individuals interact and ultimately
affect the swarm's collective behavior.
2 Nonlinear Interactions
The interactions between individuals in a swarm are highly nonlinear and can result in complex
emergent behavior. Asymmetry in these interactions can lead to even more complexity.
3 Feedback Loops
Asymmetry can create positive or negative feedback loops within a swarm, amplifying or
dampening certain behaviors.
Patterns Found in Swarm Robotics:
Algorithm of Swarm Chemistry:
• Swarm Chemistry Plays an Important role in the the Swarm Dynamics from Asymmetry. It is an
a.)Straying If there are no other agents within its local perception range, steer randomly.
b.)Cohesion (c1) Steer to move toward the average position of nearby agents.
Where,
Nj (j = 1, . . . ,M) at the beginning of each row denotes the number of agents that share the same
set of KPs. The parameters newly introduced in SC are:
R: the perception range to define the size of the neighborhood
Vn: the ideal speed
Vm: the maximum speed
Algorithm 1 Flow Chart:
Algorithm 1 Program in SC:
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