Swarm shedding in networks of self-propelled agents

Abstract Understanding swarm pattern formation is of great interest because it occurs naturally in many physical and biological systems, and has artificial applications in robotics. In both natural and engineered swarms, agent communication is typically local and sparse. This is because, over a limi...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Jason Hindes, Victoria Edwards, Klimka Szwaykowska Kasraie, George Stantchev, Ira B. Schwartz
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/11e3507072304c96bb2e7bec16f63bfd
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:11e3507072304c96bb2e7bec16f63bfd
record_format	dspace
spelling	oai:doaj.org-article:11e3507072304c96bb2e7bec16f63bfd2021-12-02T14:33:51ZSwarm shedding in networks of self-propelled agents10.1038/s41598-021-92748-12045-2322https://doaj.org/article/11e3507072304c96bb2e7bec16f63bfd2021-06-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-92748-1https://doaj.org/toc/2045-2322Abstract Understanding swarm pattern formation is of great interest because it occurs naturally in many physical and biological systems, and has artificial applications in robotics. In both natural and engineered swarms, agent communication is typically local and sparse. This is because, over a limited sensing or communication range, the number of interactions an agent has is much smaller than the total possible number. A central question for self-organizing swarms interacting through sparse networks is whether or not collective motion states can emerge where all agents have coherent and stable dynamics. In this work we introduce the phenomenon of swarm shedding in which weakly-connected agents are ejected from stable milling patterns in self-propelled swarming networks with finite-range interactions. We show that swarm shedding can be localized around a few agents, or delocalized, and entail a simultaneous ejection of all agents in a network. Despite the complexity of milling motion in complex networks, we successfully build mean-field theory that accurately predicts both milling state dynamics and shedding transitions. The latter are described in terms of saddle-node bifurcations that depend on the range of communication, the inter-agent interaction strength, and the network topology.Jason HindesVictoria EdwardsKlimka Szwaykowska KasraieGeorge StantchevIra B. SchwartzNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-9 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Jason Hindes Victoria Edwards Klimka Szwaykowska Kasraie George Stantchev Ira B. Schwartz Swarm shedding in networks of self-propelled agents
description	Abstract Understanding swarm pattern formation is of great interest because it occurs naturally in many physical and biological systems, and has artificial applications in robotics. In both natural and engineered swarms, agent communication is typically local and sparse. This is because, over a limited sensing or communication range, the number of interactions an agent has is much smaller than the total possible number. A central question for self-organizing swarms interacting through sparse networks is whether or not collective motion states can emerge where all agents have coherent and stable dynamics. In this work we introduce the phenomenon of swarm shedding in which weakly-connected agents are ejected from stable milling patterns in self-propelled swarming networks with finite-range interactions. We show that swarm shedding can be localized around a few agents, or delocalized, and entail a simultaneous ejection of all agents in a network. Despite the complexity of milling motion in complex networks, we successfully build mean-field theory that accurately predicts both milling state dynamics and shedding transitions. The latter are described in terms of saddle-node bifurcations that depend on the range of communication, the inter-agent interaction strength, and the network topology.
format	article
author	Jason Hindes Victoria Edwards Klimka Szwaykowska Kasraie George Stantchev Ira B. Schwartz
author_facet	Jason Hindes Victoria Edwards Klimka Szwaykowska Kasraie George Stantchev Ira B. Schwartz
author_sort	Jason Hindes
title	Swarm shedding in networks of self-propelled agents
title_short	Swarm shedding in networks of self-propelled agents
title_full	Swarm shedding in networks of self-propelled agents
title_fullStr	Swarm shedding in networks of self-propelled agents
title_full_unstemmed	Swarm shedding in networks of self-propelled agents
title_sort	swarm shedding in networks of self-propelled agents
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/11e3507072304c96bb2e7bec16f63bfd
work_keys_str_mv	AT jasonhindes swarmsheddinginnetworksofselfpropelledagents AT victoriaedwards swarmsheddinginnetworksofselfpropelledagents AT klimkaszwaykowskakasraie swarmsheddinginnetworksofselfpropelledagents AT georgestantchev swarmsheddinginnetworksofselfpropelledagents AT irabschwartz swarmsheddinginnetworksofselfpropelledagents
_version_	1718391114799513600

Swarm shedding in networks of self-propelled agents

Ejemplares similares