Control of antagonistic swarm dynamics via Lyapunov's method

Abstract

We consider hostile conflicts between two multi-agent swarms. First, we investigate the complex nature of a single pursuer attempting to intercept a single evader (1P-1E), and establish some rudimentary rules of engagement. We elaborate on the stability repercussions of these rules. Second, we extend the modelling and stability analysis to multi-agent swarms with conflicting interests. The present document considers only swarms with equal membership strengths for simplicity. This effort is based on a set of suggested momenta deployed on individual agents. Because pursuers and evaders differ in the influences that they exert on one another, we emphasize asymmetry in momenta between the two types of swarm members. The proposed centralized control law evolves from a Lyapunov concept. Swarm interactions are modelled in two phases: the approach phase during which the two swarms act like individuals in the 1P-1E interaction; and the individual pursuit phase where each pursuer is assigned to an evader.

Collective behavior and predation success in a predator-prey model inspired by hunting bats

“…Future work will include generalizing the model to incorporate more diverse sensing schemes for predators, enabling them to sense and interact with each other [51,52], as is observed in a variety of natural settings [53][54][55]. Potential emergence in the group of predators will broaden this work to enable exploration of the role of collective behavior in aiding rather than hindering predation.…”