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Flocking control of scalable engineering swarm system based on inverse model and PSO algorithm

Based on inverse model and PSO algorithm, a flocking control method for scalable engineering swarm system with individuals that move in a 3-dimensional environment is proposed in this paper. The motion of each individual (i) is determined by the attraction to the goal position, which means the center of smallest enclosing ball that contains a set of neighbors individual i can find and is solved by PSO algorithm, and repulsion from the other neighbors in its repulsive range. The emergent flocking behavior of the swarm is the result of a balance between inter-individual interactions. The simulations show that the swarm can aggregate to goal regions while maintaining cohesive.