%0 Journal Article
	%A Bibhya Sharma and  Jito Vanualailai and  Jai Raj
	%D 2014
	%J International Journal of Mathematical and Computational Sciences
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 86, 2014
	%T Motion Planning and Control of a Swarm of Boids in a 3-Dimensional Space
	%U https://publications.waset.org/pdf/9997321
	%V 86
	%X In this paper, we propose a solution to the motion
planning and control problem for a swarm of three-dimensional
boids. The swarm exhibit collective emergent behaviors within the
vicinity of the workspace. The capability of biological systems
to autonomously maneuver, track and pursue evasive targets in a
cluttered environment is vastly superior to any engineered system. It
is considered an emergent behavior arising from simple rules that are
followed by individuals and may not involve any central coordination.
A generalized, yet scalable algorithm for attraction to the centroid
and inter-individual swarm avoidance is proposed. We present a set
of new continuous time-invariant velocity control laws, formulated via
the Lyapunov-based control scheme for target attraction and collision
avoidance. The controllers provide a collision-free trajectory. The
control laws proposed in this paper also ensures practical stability
of the system. The effectiveness of the control laws is demonstrated
via computer simulations.

	%P 247 - 252