MULTIDIMENSIONAL FREE-FORM SWARM SHAPE FORMATION INSPIRED ON BIOLOGICAL MORPHOGENESIS

ANDRÉ LUIZ BRAGA; RONALDO  RIBEIRO GOLDSCHMIDT; PAULO FERNANDO FERREIRA ROSA

doi:10.20906/CBA2022/503

ANDRÉ LUIZ BRAGA Instututo Militar de Engenharia
RONALDO RIBEIRO GOLDSCHMIDT Instututo Militar de Engenharia
PAULO FERNANDO FERREIRA ROSA Instututo Militar de Engenharia

DOI: https://doi.org/10.20906/CBA2022/503

Keywords: Swarms, Morphogenesis, Shape Formation, Unmanned Aerial Vehicles, Multidim

Abstract

The morphogenesis process, which allows the full growth of living beings from individual cells, has been very attractive to create algorithms that control agent swarms because, like biological systems, it is distributed, robust and not dependent on external positioning. One of its key issues is how to specify complex swarm three-dimensional shape formation and the paradigm is also able to implement shapes with unlimited canonical dimensions and create Hyper-Surface shapes. In this paper we present an implementation approach of a distributed shape formation algorithm inspired in the morphogenesis paradigm and its performance simulation results against all the factors and parameters of the algorithm. We will show the advantages of this approaches related to the exibility, robustness and applicability.