Goal: Designing a predictable, reliable and deployable (real time) system on actual vehicles in which swarm can roam

around in a coordinated, well organized way while keep themselves alive. These vehicles receives data from sensors such as velocity, position, current discharge rate and control by generating appropriate signals to actuators like throttle. Decisions are made based on current inputs from sensors and current status of EG. All decisions must be made with in specified time. Communication between sensors and actuators will be provided by message passing. Problem Data: Coordinates of gliding Energy Globe (EG) are unknown to swarm. Swarms can be added to the system so my part is to ensure the maximum possible limit (Number of swarms) this algorithm can keep. To avoid a situation in which EG can become unreachable. Mainly identification of concurrency and implementation of concurrent activities are required to be implemented. This Ada tasking model should be reliable enough; have an efficient wait mechanism, provide for synchronisation, data communication and in particular mutual exclusion, and should enable software to be designed that is free from deadlocks and indefinite postponements [1]. Real world/Physical Constraint: Vehicles can only be recharged if they pass three energy globes in any direction in fast succession. The solution should be deployable on actual vehicles. Processor resources e.g priority levels Communication constraint: It is only possible for the vehicles which are in close proximity. Sensors and control: Each vehicle has sensors for their own Position, Velocity, Acceleration and current charge. Moreover, they also contain sensors to sense Energy Globe (EG) from certain unknown limit. Actuators and throttle are responsible to steer vehicle to the set position in space. Resources: Processor Resource optimisation: Wait_For_Next_Physics_Update allows us to design our system more efficiently. No need to listen around until something actually happens. My algorithm suggests the following steps: One dimensional (Figure-1) only but it can be three dimensional (Figure-2) to maximise the through put. Application works in distributed way 1. Design Message queues to send messages to vehicles e. g. Queue is not full Asynchronous 2. Always Act on recently updated message box 3. Find Energy Globes (EG) 4. Find inter vehicle communication range, discharge rates and record that figures

5. Calculate EG dimension and pathways to get recharged (Fast succession need to be tuned) 6. Align yourself with the defined rules and form first orbit 7. 1st orbit vehicles are responsible to keep an eye on the EG, Keep on getting recharge 8. All others who are listening go to the second orbit (orbit limits apply) 9. Keep on exchanging positions with the opposite one in the same orbit to get recharged 10. Keep an eye on current discharge rate 11. Dynamic priority for charging calculated as: Dp = (Distance from the globe + Current charge)/2 12. If more vehicles adding up get immediate control and place in available orbit 13. Final orbit/maximum vehicle number depends on the distance from EG and lowest possible throttle position 14. Will become unpredictable if processor is overloaded 15. Activate Ravenscar profile Rules: 1. If successful to find EG at initial stage when energy of vehicle was satisfactory (>50) then make first orbit around EG 2. If all are unable to find globes up to a moment that they are running out of energy and suddenly anyone found EG then lowest charge (< 10%) four vehicle with lowest distance (depends on discharge rate) will get the first orbit 3. First orbit can only contain four vehicles and will be formed at lower slot of EG as side view of Figure-1 shows 4. 2nd orbit: a. This orbit and all on ward orbits can contain vehicles up to a certain limit as C = B (Figure 1&2) B = Communication range b/w different orbit vehicles 5. Orbit to orbit and EG to orbit distance S = B, where B = Communication range b/w different orbit vehicles (This communication range needs to be find and may be an iterated process) 6. Once reached in orbit; default automatic swarming behaviour will start 7. Vehicle getting recharged will raise its position 8. For charging of vehicles a. If your charge is below threshold or EG corresponding runway is vacant b. Charging queue is based on current charge of all vehicles 9. New pop up vehicles go to the most outer orbit and find your slot orbit free/full flag *If all are unable to find globe for a long time then try again