Probabilistic modeling of swarming systems

Nikolaus Correll*, Heiko Hamann

*Corresponding author for this work
15 Citations (Scopus)


This chapter provides on overview on probabilistic modeling of swarming systems. We first showhow population dynamics models can be derived from the master equation in physics. We then present models with increasing complexity and with varying degrees of spatial dynamics. We will first introduce a model for collaboration and show how macroscopic models can be used to deriveoptimal policies for the individual robot analytically. We then introduce two models for collective decisions; first modeling spatiality implicitly by tracking the number of robots at specific sites and then explicitly using a Fokker-Planck equation. The chapter is concluded withopen challenges in combining non-spatial with spatial probabilistic modeling techniques.

Original languageEnglish
Title of host publicationSpringer Handbook of Computational Intelligence
Number of pages10
PublisherSpringer Berlin Heidelberg
Publication date01.01.2015
ISBN (Print)9783662435045
ISBN (Electronic)9783662435052
Publication statusPublished - 01.01.2015


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