---
_id: '20432'
abstract:
- lang: eng
  text: Designing and implementing artificial self-organizing systems is a challenging
    task since they typically behave non- intuitive and only little theoretical foundations
    exist. Predicting a system of many components with a huge amount of interactions
    is beyond human skills. The currently common use of simulations for design support
    is not satisfying, as it is time-consuming and the results are most likely sub-
    optimal. In this work, we present the derivation of an analytical, time-, and
    space-continuous model for a swarm of autonomous robots based on the Fokker-Planck
    equation. While the motion model is in most parts physically motivated, the communication
    model is based on a heuristic approach. A showcase application to a recently proposed
    scenario of collective perception in a huge swarm of robots with very limited
    abilities is given and the simulation results are compared to the model. Despite
    the high level of abstraction, the prediction discrepancies are small and the
    parameters can be mapped one-to-one from the model to the control algorithm. Finally,
    we give an outlook on the capabilities of the proposed model, discuss its limitations,
    and suggest an improvement that could reduce the number of empirically determined
    parameters.
author:
- first_name: Heiko
  full_name: Hamann, Heiko
  last_name: Hamann
- first_name: Heinz
  full_name: Wörn, Heinz
  last_name: Wörn
citation:
  ama: 'Hamann H, Wörn H. A Space- and Time-Continuous Model of Self-Organizing Robot
    Swarms for Design Support. In: <i>First International Conference on Self-Adaptive
    and Self-Organizing Systems (SASO 2007)</i>. ; 2007:23--31. doi:<a href="https://doi.org/10.1109/saso.2007.3">10.1109/saso.2007.3</a>'
  apa: Hamann, H., &#38; Wörn, H. (2007). A Space- and Time-Continuous Model of Self-Organizing
    Robot Swarms for Design Support. In <i>First International Conference on Self-Adaptive
    and Self-Organizing Systems (SASO 2007)</i> (pp. 23--31). <a href="https://doi.org/10.1109/saso.2007.3">https://doi.org/10.1109/saso.2007.3</a>
  bibtex: '@inproceedings{Hamann_Wörn_2007, title={A Space- and Time-Continuous Model
    of Self-Organizing Robot Swarms for Design Support}, DOI={<a href="https://doi.org/10.1109/saso.2007.3">10.1109/saso.2007.3</a>},
    booktitle={First International Conference on Self-Adaptive and Self-Organizing
    Systems (SASO 2007)}, author={Hamann, Heiko and Wörn, Heinz}, year={2007}, pages={23--31}
    }'
  chicago: Hamann, Heiko, and Heinz Wörn. “A Space- and Time-Continuous Model of Self-Organizing
    Robot Swarms for Design Support.” In <i>First International Conference on Self-Adaptive
    and Self-Organizing Systems (SASO 2007)</i>, 23--31, 2007. <a href="https://doi.org/10.1109/saso.2007.3">https://doi.org/10.1109/saso.2007.3</a>.
  ieee: H. Hamann and H. Wörn, “A Space- and Time-Continuous Model of Self-Organizing
    Robot Swarms for Design Support,” in <i>First International Conference on Self-Adaptive
    and Self-Organizing Systems (SASO 2007)</i>, 2007, pp. 23--31.
  mla: Hamann, Heiko, and Heinz Wörn. “A Space- and Time-Continuous Model of Self-Organizing
    Robot Swarms for Design Support.” <i>First International Conference on Self-Adaptive
    and Self-Organizing Systems (SASO 2007)</i>, 2007, pp. 23--31, doi:<a href="https://doi.org/10.1109/saso.2007.3">10.1109/saso.2007.3</a>.
  short: 'H. Hamann, H. Wörn, in: First International Conference on Self-Adaptive
    and Self-Organizing Systems (SASO 2007), 2007, pp. 23--31.'
date_created: 2020-11-19T11:24:11Z
date_updated: 2022-01-06T06:54:27Z
department:
- _id: '63'
- _id: '238'
doi: 10.1109/saso.2007.3
language:
- iso: eng
page: 23--31
publication: First International Conference on Self-Adaptive and Self-Organizing Systems
  (SASO 2007)
publication_identifier:
  isbn:
  - '0769529062'
publication_status: published
status: public
title: A Space- and Time-Continuous Model of Self-Organizing Robot Swarms for Design
  Support
type: conference
user_id: '15415'
year: '2007'
...