Simulation Toolset for Localization and Control of Swarming Vehicles using Random Finite Set Theory

Vaughn A. Weirens, Chuck S. Hisamoto, Suneel I. Sheikh

Abstract:	Swarm robotics is currently a major focus of academic, defense, and commercial research for both terrestrial and space applications. Software simulations for developing, evaluating, and operating these complex swarm systems tend to be computationally expensive and time consuming, making realistic approximation of their behaviors a significant challenge. A software toolset based on Random Finite Set statistics and linear-quadratic regulator control methods has been developed to address the growing need to correctly model the behaviors of these swarms, and the individual agents that comprise them. This paper will present a brief overview of the toolset’s theoretical foundation, its design and implementation, the operational performance of example swarm applications, and discussions on the development to grow the toolset’s capabilities for use with various experimental and operational vehicular platforms.
Published in:	2018 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 23 - 26, 2018 Hyatt Regency Hotel Monterey, CA
Pages:	1286 - 1293
Cite this article:	Weirens, Vaughn A., Hisamoto, Chuck S., Sheikh, Suneel I., "Simulation Toolset for Localization and Control of Swarming Vehicles using Random Finite Set Theory," 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2018, pp. 1286-1293. https://doi.org/10.1109/PLANS.2018.8373518
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