Математичні моделі колективної поведінки у ройових системах для дослідження місцевості

Abstract

This paper considers mathematical models of collective behavior used in swarm systems of unmanned aerial vehicles (UAVs) for terrain exploration tasks. Swarm systems are characterized by decentralized control and interaction based on local rules. The work analyses several well-known models including flocking models, consensus models, the Cucker-Smale model, potential field methods and area coverage models. Mathematical formulations of these models are presented and their applicability to multiagent coordination problems is discussed. The reviewed approaches form the theoretical basis for the development of algorithms for cooperative exploration and distributed sensing using UAV swarms