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The usually use reference trajectory and fitness function in a conventional is replaced by multiple exponential fields. The advantage of this combination is that more complex objectives can be defined than by a simple reference trajectory. The optimization in this combination model of predictive control and potential fields is done by an evolutionary algorithm, which has other advantages that it can help avoid possible existing local minimums.

The developed swarm tactics are theoretically, analytically and via simulation analyzed for its performance. Based on current research and systematic conclusions the necessary requirements are defined. The swarm tactics was evaluated regarding the probability of failure analytically and in simulation in extreme situations for basic functions.

Different variants which use different optimization algorithms of the introduced swarm tactics are analyzed in different scenarios. Wang, J. Wirtz, S. Xu, G. Ali, M. Beganovic, N. Lawrynczuk, M. Madadi, E. Njiri, J. Spiller, M. Baccar, D. Moulik, B. Nowak, X. Al-Shrouf, L.


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Hasselberg, A. Rother, A. Wei, C. Zareba, S. Karbaschian, M. Langer, M. Liu, Y. Marx, M.

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Onnasch, R. Wiczorek, and D. Manzey Eds. Baloian, N. Shibly, H. Heidtmann, F. Ahle, E. Al-Sweiti, Y. An Interdisciplinary Dialogue. Jihin, R. Kahar, H. Pham, H. Tanshi, F. Jihin, R; Do, M. Sheng, W. Bathelt, A. Cunha, A. In: Chang, F. Hilbert-Huang-Transform, Phase Portrait. DETC, Vol. Zhao, M. Sarkheyli, A. Muthig, O. Tamimi, H. Luu, Q.


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