A hybrid, multi-agent model of foraging bottlenose dolphins

Musad Haque, Amir Rahmani, Magnus Egerstedt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations


Social behavior of animals can offer solution models for missions involving a large number of heterogeneous vehicles, such as light combat ships, unmanned aerial vehicles, and unmanned underwater vehicles. We draw inspiration from the foraging techniques of bottlenose dolphins to address the problem of heterogeneous multi-agent herding. We produce a hybrid automaton model of the entire foraging method - search, detect, and capture - where agents are modeled as first-order systems in which interactions are defined through spatial proximity. Finally, simulations are provided to illustrate that our model is expressive enough to capture this complex biological phenomenon.

Original languageEnglish (US)
Title of host publication3rd IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'09 - Proceedings
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902661593
StatePublished - 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


  • Biologically-inspired methods
  • Decentralized control
  • Hybrid systems
  • Multi-agent herding
  • Networked control systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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