Target-oriented predator and prey swarm control in obstacle-filled environments
C.P. Lupău (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Ashutosh Simha – Mentor (TU Delft - Embedded Systems)
Suryansh Sharma – Mentor (TU Delft - Embedded Systems)
RR Venkatesha Prasad – Mentor (TU Delft - Embedded Systems)
Lydia Y. Chen – Graduation committee member (TU Delft - Data-Intensive Systems)
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Abstract
In this paper, we explore the creation of control algorithms for swarms of robots playing the role of either predator or prey in an environment filled with static obstacles. The paper devel- ops on a famous flock simulation model proposed by Craig Reynolds called boids. The paper analyzes a zero-sum game situation, in which one swarm of robots, the prey, is trying to reach a certain pre-determined target, while another swarm of robots, the predator, is trying to prevent it from reaching its objective. Swarm control algorithms for both the predator and the prey scenarios are analyzed in an arms race manner. The robots are modelled as point-mass holonomic entities, that can move in arbitrary directions. The proposed algorithms are tested on characteristics such as success rate and time in a simulated environment. As a result, a set of algorithms for both the predator and prey are proposed and their strength and weaknesses are discussed.