An output-driven approach to design a swarming model for architectural indoor environments

摘要

We introduce a novel tool for designing a swarming behavior model for a set of virtual agents to automatically capture an initially unknown indoor architectural environment. Our key idea is to use an output-driven optimization to create targeted swarming behavior. The input to our model is a simple rectangular proxy of the target area and desired acquisition indicator values. The final outputs are the parameters for a swarming behavior model that is autonomous and decentralized, uses only local exploration, and is robust to agent failure. We show and compare the swarming performance in several simulated environments of up to several hundred square meters, 100 agents, and under various conditions. (C) 2020 Elsevier Ltd. All rights reserved.