Leader And Predator Based Swarm Steering For Multiple Tasks

A robotic swarm can perform various tasks. However, a human is required to task the swarm. Human control over the swarm can be enabled through a set of influential agents which can be either leaders or predators. In the presence of multiple tasks, the swarm may need to split into sub-swarms to accomplish the task and re-group as a swarm to execute larger tasks. The response of the swarm in the presence of influential agents depends on the swarm dynamics. A precise measure of influence using leaders or predators or a combination of leaders and predators to achieve the mission is not adequately studied. In this paper, we analyze the effect of using only leaders, only predators and a combination of leaders and predators on three swarm models namely, shepherding model, Couzin's model and a physicomimetic models while they perform foraging tasks and carry out Monte-Carlo simulations to evaluate the performance of the influential agents on different swarms. We also propose a novel way to split a swarm into smaller sub-swarms using influential agents. Our results show that the predator based swarm splitting and steering to a task based on shepherding model performs far better than any other combination of leaders and predators. This result is consistent even when the number of agents is increased to 500.