Swarm

Swarm coordination studies decentralized policies for formation, flocking, consensus, and area coverage. The chapter emphasizes local rules, communication assumptions, and emergent global behavior.

Core Questions

• What information must be shared for stable formation behavior?
• How do local interaction rules scale with team size?
• Which methods retain robustness under dropouts and disturbances?

Algorithms

• Reynolds Flocking
• Consensus Formation
• Virtual Structure
• Leader-Follower
• Potential Swarm
• Voronoi Coverage

Prerequisites

• Graph theory basics for multi-agent systems
• Consensus and stability concepts
• Potential fields and geometric formation models