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A Matrix Based Approach For Modeling Robotic Swarm Behavior

Swarm robotics systems can be categorized as discrete event systems (DES) and can therefore be subjected to DES modeling and analysis tools. Taking on the same approach and considering successful application of matrices to model complex DES like flexible manufacturing systems, we present here a novel matrix formulation to model emergent coherent movement of a wirelessly connected swarm of robots. In order to move the swarm in a desired direction, an external control input is defined that changes the direction of every robot to desired direction. This approach can be applied not only to model swarm dynamics but also to quickly verify its emergent behavior. The simulation in MATLAB gives interesting insight into emergent behavior of the swarm over time, which other wise requires expensive experimentation.