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Illustration of Centralized Command and Control for Flocking Behavior

Illustration of Centralized Command and Control for Flocking Behavior

Sami Oweis, Subramaniam Ganesan, Ka C. Cheok
Copyright: © 2014 |Volume: 5 |Issue: 2 |Pages: 22
ISSN: 1947-9158|EISSN: 1947-9166|EISBN13: 9781466654525|DOI: 10.4018/ijhcr.2014040101
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MLA

Oweis, Sami, et al. "Illustration of Centralized Command and Control for Flocking Behavior." IJHCR vol.5, no.2 2014: pp.1-22. http://doi.org/10.4018/ijhcr.2014040101

APA

Oweis, S., Ganesan, S., & Cheok, K. C. (2014). Illustration of Centralized Command and Control for Flocking Behavior. International Journal of Handheld Computing Research (IJHCR), 5(2), 1-22. http://doi.org/10.4018/ijhcr.2014040101

Chicago

Oweis, Sami, Subramaniam Ganesan, and Ka C. Cheok. "Illustration of Centralized Command and Control for Flocking Behavior," International Journal of Handheld Computing Research (IJHCR) 5, no.2: 1-22. http://doi.org/10.4018/ijhcr.2014040101

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Abstract

Flocking is a term that describes the behavior of a group of birds (a “flock”) in flight, or the swarming behavior of insects. This paper presents detailed information about how to use the flocking techniques to control a group of embedded controlled systems - ‘'Boids''- such as ground systems (robotic vehicles/ swarm robots). Each one of these systems collectively moves inside/outside of a building to reach a target. The flocking behavior is implemented on a server-based control, which processes each of the boids' properties e.g. position, speed & target. Subsequently, the server will assign the appropriate move to a specific boid. The calculated information will be used locally to control and direct the movements/flocking for each boid in the group. A simulation technique and detailed flow chart is presented. In addition to Reynolds three original rules for flocking, two other rules- targeting obstacle avoidance - are presented-. Our result shows that the obstacles' avoiding rule was utilized to ensure that the flock didn't collide with obstacles in each of the boids' paths.

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