An analysis of dissipation functions in swarming systems

Swarms of multiple, autonomous mobile agents have been shown to have advantages over single agent systems such as scalability, robustness and flexibility. This papers considers swarm pattern control using a generic artificial potential field and a range of dissipation control terms. An investigation of a number of dissipation terms to induce different swarm behaviours is undertaken. In addition, a novel dissipation control term is introduced based on time-delay feedback control. It is shown that a delayed dissipation term can induce vortex formations without knowledge of relative velocities. Finally, a stability analysis is undertaken that verifies swarm behaviour in a subset of these cases.