Entropy-based Coordinated Swarm Navigation Vehicles in Dynamic Environments

Previous studies pertaining to distributed behavior algorithms for swarm navigation use a conventional bottom-up approach. Our novel innovation considers the need for development of a generic cost function for heterogeneous sensors, cooperative multiple task assignment in a distributed fashion while ensuring robustness and stability, dynamic real time re-tasking of agents, and development of a distributed sensing system model based on a multi vantage point view. Our proposed approach includes following methods for developing swarm technology: (a) development of a distributed behavior model for swarm system, (b) multi-agent conflict resolution and dynamic role assignment, and (c) reconstruction of 3D model of the environment using heterogeneous sensors from multiple agents.