2022/06/24 by Mehdi Yadipour, Yadipour, Mehdi, Imraan Faruque +1
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Robotic Path Planning Algorithms #Slime Mold and Myxomycetes Research
paper · pdf · doi:10.48550/arxiv.2206.12482
openalex publication_date 2022/06/24 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper addresses the need for fast, lightweight, vision-guided swarming under limited computation and no explicit communication network or position source. The study develops a multi-agent optic flow sensing framework, then integrates perfect information distributed feedback with optic flow sensing to create an analogous visually-guided feedback path for idealized inter-agent velocity and distance structures. The Cucker-Smale flocking example is used to develop vision-guided swarming with rigorous asymptotic convergence guarantees, including under ignorance of agent size.