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

@article{Harwell2021CharacterizingTL, title={Characterizing The Limits of Linear Modeling of Non-Linear Swarm Behaviors}, author={John Harwell and Angel Sylvester and Maria L. Gini}, journal={ArXiv}, year={2021}, volume={abs/2110.12307} }

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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