Declarative vs rule-based control for flocking dynamics Article Swipe
Usama Mehmood
,
Nicola Paoletti
,
Dung Phan
,
Radu Grosu
,
Shan Lin
,
Scott D. Stoller
,
Ashish Tiwari
,
Junxing Yang
,
Scott A. Smolka
·
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.1145/3167132.3167222
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.1145/3167132.3167222
The popularity of rule-based flocking models, such as Reynolds' classic flocking model, raises the question of whether more declarative flocking models are possible. This question is motivated by the observation that declarative models are generally simpler and easier to design, understand, and analyze than operational models. We introduce a very simple control law for flocking based on a cost function capturing cohesion (agents want to stay together) and separation (agents do not want to get too close). We refer to it as {\textit declarative flocking} (DF). We use model-predictive control (MPC) to define controllers for DF in centralized and distributed settings. A thorough performance comparison of our declarative flocking with Reynolds' model, and with more recent flocking models that use MPC with a cost function based on lattice structures, demonstrate that DF-MPC yields the best cohesion and least fragmentation, and maintains a surprisingly good level of geometric regularity while still producing natural flock shapes similar to those produced by Reynolds' model. We also show that DF-MPC has high resilience to sensor noise.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- https://doi.org/10.1145/3167132.3167222
- OA Status
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- References
- 24
- Related Works
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- OpenAlex ID
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All OpenAlex metadata
Raw OpenAlex JSON
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https://openalex.org/W2765524448Canonical identifier for this work in OpenAlex
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https://doi.org/10.1145/3167132.3167222Digital Object Identifier
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Declarative vs rule-based control for flocking dynamicsWork title
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preprintOpenAlex work type
- Language
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enPrimary language
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2018Year of publication
- Publication date
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2018-04-09Full publication date if available
- Authors
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Usama Mehmood, Nicola Paoletti, Dung Phan, Radu Grosu, Shan Lin, Scott D. Stoller, Ashish Tiwari, Junxing Yang, Scott A. SmolkaList of authors in order
- Landing page
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https://doi.org/10.1145/3167132.3167222Publisher landing page
- Open access
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YesWhether a free full text is available
- OA status
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greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/1710.10013Direct OA link when available
- Concepts
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Flocking (texture), Computer science, Distributed computing, Physics, Quantum mechanicsTop concepts (fields/topics) attached by OpenAlex
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0Total citation count in OpenAlex
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24Number of works referenced by this work
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20Other works algorithmically related by OpenAlex
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| primary_location.raw_source_name | Proceedings of the 33rd Annual ACM Symposium on Applied Computing |
| primary_location.landing_page_url | https://doi.org/10.1145/3167132.3167222 |
| publication_date | 2018-04-09 |
| publication_year | 2018 |
| referenced_works | https://openalex.org/W2041065440, https://openalex.org/W2001963325, https://openalex.org/W2153305175, https://openalex.org/W2103714988, https://openalex.org/W2254624766, https://openalex.org/W2053216611, https://openalex.org/W2103120971, https://openalex.org/W2562728025, https://openalex.org/W1981826826, https://openalex.org/W2105850748, https://openalex.org/W2160643434, https://openalex.org/W2025053203, https://openalex.org/W2019258694, https://openalex.org/W4234406933, https://openalex.org/W2055256257, https://openalex.org/W2032328773, https://openalex.org/W1987128502, https://openalex.org/W2170427350, https://openalex.org/W1923344279, https://openalex.org/W2505783420, https://openalex.org/W1995224428, https://openalex.org/W2159826786, https://openalex.org/W3102923851, https://openalex.org/W2150312211 |
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