Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics (original) (raw)
Figure 3
Stationary probability distribution and splitting probability for a virtual swarm.
(left) Stationary probability distribution as estimated from the simulation output (red markers) and computed from the FPE coefficients [Eq. (56) in Appendix 1.2]. (right) Splitting probability
, as estimated directly from the simulation output [cf. Eq. (53) in Appendix 1.2] (red markers) and computed using the integrated stationary distribution [Eq. (54) in Appendix 1.2] (blue curve). Simulation parameters are given in Table 1.