• Marius BÄ‚LAȘ „Aurel Vlaicu” University of Arad
  • Valentina BÄ‚LAȘ „Aurel Vlaicu” University of Arad


Swarm intelligent algorithms, particle swarm optimization, constant time to collision criterion.


The paper is making a short introduction into the field of
the swarm intelligent robots and is proposing a new approach
for the self-organizing swarms, based on the criterion of the
constant time to collision. This criterion is imposing an optimal
distance between moving particles, such way that the times to
collision between particles are constant, for any speed. The same
time to collision is imposed to the whole swarm. The imposed
time to collision and therefore the distance gaps between the
particles can be adjusted. Such way each member of a moving
swarm can find by itself a position that is optimizing the
structure and the dimensions of the swarm, according to its
speed. A simulation is provided for a simple case: the Indian

Author Biographies

Marius BĂLAȘ, „Aurel Vlaicu” University of Arad

Engineering Faculty

Valentina BĂLAȘ, „Aurel Vlaicu” University of Arad

Engineering Faculty


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