• Corpus ID: 239768161

Characterizing The Limits of Linear Modeling of Non-Linear Swarm Behaviors

  title={Characterizing The Limits of Linear Modeling of Non-Linear Swarm Behaviors},
  author={John Harwell and Angel Sylvester and Maria L. Gini},
We study the limits of linear modeling of swarm behavior by characterizing the inflection point beyond which linear models of swarm collective behavior break down. The problem we consider is a central place object gathering task. We design a linear model which strives to capture the underlying dynamics of object gathering in robot swarms from first principles, rather than extensively relying on post-hoc model fitting. We evaluate our model with swarms of up to 8,000 robots in simulation… 

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