A Theoretical Framework for Estimating Swarm Success Probability Using Scouts

Abstract

This paper presents a novel theoretical framework for swarms of agents. Before deploying a swarm for a task, it is advantageous to predict whether a desired percentage of the swarm will succeed. The authors present a framework that uses a small group of expendable “scout” agents to predict the success probability of the entire swarm, thereby preventing many agent losses. The scouts apply one of two formulas to predict – the standard Bernoulli trials formula or the new Bayesian formula. For experimental evaluation, the framework is applied to simulated agents navigating around obstacles to reach a goal location. Extensive experimental results compare the mean-squared error of the predictions of both formulas with ground truth, under varying circumstances. Results indicate the accuracy and robustness of the Bayesian approach. The framework also yields an intriguing result, namely, that both formulas usually predict better in the presence of (Lennard-Jones) inter-agent forces than when their independence assumptions hold.