Heterogeneous Boid Swarm Performance under Environmental and Neighbor Communication Link Variability

Date of Award

3-2025

Document Type

Thesis

Degree Name

Master of Science in Computer Science

Department

Department of Electrical and Computer Engineering

First Advisor

Gilbert L. Peterson, PhD

Abstract

Artificial swarms are of growing interest in numerous fields and use cases. As their utilization increases drones and robots with different capabilities will be required to coordinate for task completion thus creating heterogeneous swarms. Swarm individuals generally communicate with all neighbors inside their sensor range generating a significant amount of message traffic. Previous research of a heterogeneous group in a non-physical environment has shown that restricting communication to only one neighbor of each different capability maintained performance. This work applies that finding to a heterogeneous boid swarm with the addition of varied environmental conditions. The swarm is comprised of three types of individuals each with distinct roles. The number of neighbors with which they can communicate is varied by type and they are tested under various environmental conditions. Results indicate that for two of the swarm types, neighbor communication had no impact on performance. However, communication with one individual of the third type measurably increased swarm performance. Environmental conditions affected the swarm’s performance but did not appear to have an impact on the relationship between the neighbor communication and performance. These initial data show that in certain cases, dependent on the capabilities and task of the swarm, real world swarm communication needs may be modified leading to decreased energy usage.

AFIT Designator

AFIT-ENG-MS-25-M-013

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