In this paper we define the swarm formation problem as a differential game. Each robot is represented by its dynamic differential equations and their behaviours are represented by strategies, which are control signals to the robots. The objective of each robot is to minimize some utility function. We are particularly interested in the modeling of the problem and its consequences to the field of swarm robotics. The main contribution of the article is in the application of the differential game tools to this field.

Dynamic equations, Game theory, Optimization, Swarm formation, Swarm robotics
10th IASTED International Conference on Control and Applications, CA 2008
Department of Systems and Computer Engineering

Givigi, S.N. (Sidney N.), & Schwartz, H.M. (2008). Swarm formation viewed as a differential game. In Proceedings of the 10th IASTED International Conference on Control and Applications, CA 2008 (pp. 1–6).