/Gaussian reconstruction of swarm behavior from partial data

Gaussian reconstruction of swarm behavior from partial data

Glenn Wagner and Howie Choset
Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), March, 2015

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Swarms consist of large numbers of individual agents that generally maintain no fixed relative positions, which makes describing the behavior of the swarm as a whole difficult. Furthermore, the high number of agents leads to frequent occlusions that prevent observations of the entire swarm. In this paper, we represent the behavior of swarms using velocity fields, yielding a description which is invariant to the number of agents in a swarm, and the position, orientation, and scale of the swarm. The velocity field representation allows the behavior of swarms to be modeled as a Gaussian distribution. We demonstrate that this Gaussian model can be used to reconstruct the behavior of the swarm as a whole from partial observations.

Notes
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7140020

BibTeX Reference
@conference{Wagner-2015-5933,
author = {Glenn Wagner and Howie Choset},
title = {Gaussian reconstruction of swarm behavior from partial data},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2015},
month = {March},
publisher = {IEEE},
}
2017-09-13T10:38:45+00:00