Model independence in swarm robotics

The purpose of this paper is to examine and illustrate the development of a methodology for generating swarms using lossless flocking.

A general methodology for swarm design is described. Examples of this approach in the literature are examined. A general requirement for lossless flocking is developed. The requirement is used in developing two swarm behaviors.

It is possible to apply the approach to the lossless flocking and to use the swarm condition to develop two swarm behaviors which satisfy this condition in many situations.

This paper illustrates the general swarm engineering method and demonstrates how it can be properly applied.

The swarm engineering method is used to develop the “quark” model, a new physicomimetic model.