Optimization of Foraging Multi-Agent System Front: A Flux-Based Curve Evolution Method
Haque, Musad A.
Rahmani, Amir R.
Egerstedt, Magnus B.
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Numerous social foragers form a foraging front that sweeps through the aggregation of prey. Based on this strategy, and using variational arguments, we develop an algorithm to provide a group-level specification of the shape of the sweeping front for a foraging multi-robot system. The presented flux-based algorithm has the desired property of generating more regular shapes than previously introduced algorithms.