Print Email Facebook Twitter Target-oriented predator and prey swarm control in obstacle-filled environments Title Target-oriented predator and prey swarm control in obstacle-filled environments Author Lupău, Cătălin (TU Delft Electrical Engineering, Mathematics and Computer Science) Contributor Simha, A. (mentor) Sharma, S. (mentor) Venkatesha Prasad, R.R. (mentor) Chen, Lydia Y. (graduation committee) Degree granting institution Delft University of Technology Programme Computer Science and Engineering Project CSE3000 Research Project Date 2022-06-22 Abstract In this paper, we explore the creation of control algorithms for swarms of robots playing the role of either predator or prey in an environment filled with static obstacles. The paper devel- ops on a famous flock simulation model proposed by Craig Reynolds called boids. The paper analyzes a zero-sum game situation, in which one swarm of robots, the prey, is trying to reach a certain pre-determined target, while another swarm of robots, the predator, is trying to prevent it from reaching its objective. Swarm control algorithms for both the predator and the prey scenarios are analyzed in an arms race manner. The robots are modelled as point-mass holonomic entities, that can move in arbitrary directions. The proposed algorithms are tested on characteristics such as success rate and time in a simulated environment. As a result, a set of algorithms for both the predator and prey are proposed and their strength and weaknesses are discussed. Subject predator-preyobstacle-avoidanceswarm controlboidsUAVsrobot swarmswar robotsmilitary robotsSelf-driving carscollision avoidancesimulationcontrol algorithm To reference this document use: http://resolver.tudelft.nl/uuid:06baf67a-5725-4e4a-bebb-a3bf60dcc25b Part of collection Student theses Document type bachelor thesis Rights © 2022 Cătălin Lupău Files PDF ResearchPaper.pdf 782.88 KB Close viewer /islandora/object/uuid:06baf67a-5725-4e4a-bebb-a3bf60dcc25b/datastream/OBJ/view