MacroSwarm: A Field-based Compositional Framework for Swarm Programming
COORDINATION(2024)
Abstract
Swarm behaviour engineering is an area of research that seeks to investigate
methods and techniques for coordinating computation and action within groups of
simple agents to achieve complex global goals like pattern formation,
collective movement, clustering, and distributed sensing. Despite recent
progress in the analysis and engineering of swarms (of drones, robots,
vehicles), there is still a need for general design and implementation methods
and tools that can be used to define complex swarm behaviour in a principled
way. To contribute to this quest, this article proposes a new field-based
coordination approach, called MacroSwarm, to design and program swarm behaviour
in terms of reusable and fully composable functional blocks embedding
collective computation and coordination. Based on the macroprogramming paradigm
of aggregate computing, MacroSwarm builds on the idea of expressing each swarm
behaviour block as a pure function mapping sensing fields into actuation goal
fields, e.g. including movement vectors. In order to demonstrate the
expressiveness, compositionality, and practicality of MacroSwarm as a framework
for collective intelligence, we perform a variety of simulations covering
common patterns of flocking, morphogenesis, and collective decision-making.
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Key words
macroswarm,compositional framework,field-based
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