International Journal of Swarm Intelligence and Evolutionary Computation

International Journal of Swarm Intelligence and Evolutionary Computation
Open Access

ISSN: 2090-4908


Siqing Ma

The Ottawa-Carleton Institute for Electrical and Computer Engineering, Carleton University, Ottawa, Canada

  • Research Article   
    An Artificial Swan Formation Using the Finsler Measure in the Dynamic Window Control
    Author(s): Jun S Huang*, Siqing Ma, Gao Li, Oliver W Yang and Chang Shao

    This paper studies the swarm formation control for a large number of unmanned robots (artificial swans) to expel invading objects (geese) in applications such as airport bird control. This control algorithm extends the existing DWA (Dynamic Window Algorithm) control by inserting a new term using the Finsler measure in the objective function during the optimization process. As demonstrated and proven with the simulation section and derivation in the appendix, the Finsler measure can gauge the degree of local collaboration among unmanned robots and therefore allow us to form a statistical collaboration strategy to control a swarm formation to expel invading objects. It also allows fast optimization and therefore real-time formation control of a large number of robots without seeing the robots to collide with each other or with obstacles along their moving path, beca.. Read More»
    DOI: 10.35248/2090-4908.20.9.186

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