Insect-inspired Visually-guided Decentralized Swarming

06/24/2022

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by   Mehdi Yadipour, et al.

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This paper addresses the need for fast, lightweight, vision-guided swarming under limited computation and no explicit communication network or position source. The study develops a multi-agent optic flow sensing framework, then integrates perfect information distributed feedback with optic flow sensing to create an analogous visually-guided feedback path for idealized inter-agent velocity and distance structures. The Cucker-Smale flocking example is used to develop vision-guided swarming with rigorous asymptotic convergence guarantees, including under ignorance of agent size.