A Distributed Multi-Robot Cooperative Hunting Algorithm Based on Limit-cycle

2009 ◽  
Author(s):  
Ming Wu ◽  
Feifei Huang ◽  
Long Wang ◽  
Jiyin Sun
Keyword(s):  
Limit Cycle ◽  
Cooperative Hunting ◽  
Multi Robot

scholarly journals A novel bio- inspired algorithm for hunting in multi robot scenario

2019 ◽  
Vol 15 (3) ◽  
pp. 1553
Author(s):  
Poorva Agrawal ◽  
Himanshu Agrawal ◽  
Vidyasagar Potdar
Keyword(s):  
Dynamic Alliance ◽  
Construction Algorithm ◽  
Cooperative Hunting ◽  
Four Corners ◽  
Different Shapes ◽  
Multi Robot

In a multi-robot scenario, cooperative hunting is a key issue when a group of robots are hunting for evader/evaders and when the location of the evader is continuously changing. Cooperative hunting is addressed in this paper by proposing a novel bio inspired Corner Dragging Algorithm (CDA). Corner Dragging Algorithm operates by making an alliance of robots that drag the evader towards any one of the four corners; whichever is closest to the evader. Different shapes of obstacles are avoided during this pursuit. While developing the Corner Dragging Algorithm, we analyze the shortcomings and advantages of some of the existing algorithms including dynamic alliance and formation construction algorithm and incorporate these changes in our design to achieve improved results. Performance of the algorithm is evaluated on the basis of simulation in MATLAB.

scholarly journals Hunting strategy for multi-robot based on wolf swarm algorithm and artificial potential field

2022 ◽  
Vol 25 (1) ◽  
pp. 159
Author(s):  
Oussama Hamed ◽  
Mohamed Hamlich ◽  
Mohamed Ennaji
Keyword(s):  
Potential Field ◽  
Artificial Potential Field ◽  
Moving Target ◽  
Robot System ◽  
Cooperative Hunting ◽  
Robot Systems ◽  
Dynamic Target ◽  
Swarm Algorithm ◽  
Hunting Strategy ◽  
Multi Robot

The cooperation and coordination in multi-robot systems is a popular topic in the field of robotics and artificial intelligence, thanks to its important role in solving problems that are better solved by several robots compared to a single robot. Cooperative hunting is one of the important problems that exist in many areas such as military and industry, requiring cooperation between robots in order to accomplish the hunting process effectively. This paper proposed a cooperative hunting strategy for a multi-robot system based on wolf swarm algorithm (WSA) and artificial potential field (APF) in order to hunt by several robots a dynamic target whose behavior is unexpected. The formation of the robots within the multi-robot system contains three types of roles: the leader, the follower, and the antagonist. Each role is characterized by a different cognitive behavior. The robots arrive at the hunting point accurately and rapidly while avoiding static and dynamic obstacles through the artificial potential field algorithm to hunt the moving target. Simulation results are given in this paper to demonstrate the validity and the effectiveness of the proposed strategy.

scholarly journals Dynamics in a Predator–Prey Model with Cooperative Hunting and Allee Effect

Mathematics ◽  
2021 ◽  
Vol 9 (24) ◽  
pp. 3193
Author(s):  
Yanfei Du ◽  
Ben Niu ◽  
Junjie Wei
Keyword(s):  
Limit Cycle ◽  
Allee Effect ◽  
Heteroclinic Orbits ◽  
Initial Population ◽  
Form Analysis ◽  
Predator Prey ◽  
Predator Prey Model ◽  
Cooperative Hunting ◽  
Prey Model ◽  
Two Delays

This paper deals with a diffusive predator–prey model with two delays. First, we consider the local bifurcation and global dynamical behavior of the kinetic system, which is a predator–prey model with cooperative hunting and Allee effect. For the model with weak cooperation, we prove the existence of limit cycle, and a loop of heteroclinic orbits connecting two equilibria at a threshold of conversion rate p=p#, by investigating stable and unstable manifolds of saddles. When p>p#, both species go extinct, and when p<p#, there is a separatrix. The species with initial population above the separatrix finally become extinct, and the species with initial population below it can be coexisting, oscillating sustainably, or surviving of the prey only. In the case with strong cooperation, we exhibit the complex dynamics of system, including limit cycle, loop of heteroclinic orbits among three equilibria, and homoclinic cycle with the aid of theoretical analysis or numerical simulation. There may be three stable states coexisting: extinction state, coexistence or sustained oscillation, and the survival of the prey only, and the attraction basin of each state is obtained in the phase plane. Moreover, we find diffusion may induce Turing instability and Turing–Hopf bifurcation, leaving the system with spatially inhomogeneous distribution of the species, coexistence of two different spatial-temporal oscillations. Finally, we consider Hopf and double Hopf bifurcations of the diffusive system induced by two delays: mature delay of the prey and gestation delay of the predator. Normal form analysis indicates that two spatially homogeneous periodic oscillations may coexist by increasing both delays.

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