We utilize a swarm design methodology that enables us to develop classes of swarm solutions to specific specifications. The method utilizes metrics devised to evaluate the swarm’s progress – the global variables – along with the set of available technologies in order to answer varied questions surrounding a swarm design for the task. These questions include the question of whether or not a swarm is necessary for a given task. The Jacobian matrix, here identified as the technology matrix, is created from the global variables. This matrix may be interpreted in a way that allows the identification of classes of technologies required to complete the task. This approach allows us to create a class of solutions that are all suitable for accomplishing the task. We demonstrate this capability for accumulation swarms, generating several configurations that can be applied to complete the task. If the technology required to complete the task either cannot be implemented on a single agent or is unavailable, it may be possible to utilize a swarm to generate the capability in a distributed way. We demonstrate this using a gradient-based search task in which a minimal swarm is designed along with two additional swarms, all of which extend the agents’ capabilities and successfully accomplish the task.
Li, M.; Qiu, C.; Park, J.; Chan, D.; Na, J.; Wong, C.; Zhao, B.; Chang, E.; Kazadi, Sanza; and Hettiarachchi, S., "Generating swarm solution classes using the Hamiltonian Method of swarm design" (2017). Staff Publications & Research. 3.