Graduation Year


Document Type

Open Access Senior Thesis

Degree Name

Bachelor of Science



Reader 1

Rachel Levy

Reader 2

Dagan Karp

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Rights Information

© 2011 Georgi Dinolov


Two methods for control of swarms are described. The first of these methods, the Virtual Attractive-Repulsive (VARP) method, is based on potentials defined between swarm elements. The second control method, or the abstraction method, is based on controlling the macroscopic characteristics of a swarm. The derivation of a new control law based on the second method is described. Numerical simulation and analytical interpretation of the result is also presented.