Swarm formation morphing for congestion-aware collision avoidance

• DOI: 10.1016/j.heliyon.2021.e07840
• Publication Date: 2021-08-18T16:49:39Z
• Authors: Jawad N. Yasin; Mohammad-Hashem H...; Muhammad Mehboob ...; Juha Plosila
• Keywords: Morphing; Obstacle avoidance; Heuristics

The focus of this work is to present a novel methodology for optimal distribution swarm formation on either side an obstacle, when evading the avoid overpopulation sides reduce agents' waiting delays, resulting in reduced overall mission time and lower energy consumption. To handle this, problem divided into two main parts: 1) disturbance phase: how morph optimally obstacle least possible situation at hand, 2) convergence resume intended shape once threat potential collision has been eliminated. For first problem, we develop which tests different morphing combinations finds one, by utilizing trajectory, velocity, coordinate information, bypass obstacle. second utilize thin-plate splines (TPS) inspired temperature function minimization method bring agents back from distorted desired manner, after avoidance successfully performed. Experimental results show that, considered test scenario, proposed approach substantial savings as compared with traditional methods.