Flocking Algorithm for Swarm Robots Inspired by Foam Dynamics

Independent Project, Supervised by Prof. Haihong Chi


  • Proposed a distributed control scheme for multi-agent systems inspired by the physics of liquid foams

  • Implemented a convincing simulation of 3D flocking behaviour with obstacle avoidance in MATLAB based on an ODE system derived from the dynamic behavior of the foam

  • Greatly enhanced the computing efficiency by introducing graph data structure and optimizing the algorithm to a vectorized version, enabling for simulation of massive multi-agent systems