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Geometric formations in swarm aggregation: an artificial formation force based approach

Ekanayake, Samitha and Pathirana, Pubudu 2007, Geometric formations in swarm aggregation: an artificial formation force based approach, in ICIAfS 2007 the 3rd International Conference on Information and Automation for Sustainability, The Institute of Electrical and Electronics Engineers, Inc (IEEE), Piscataway, N.J., pp. 82-87.

Document type: Conference Paper
Collection: School of Engineering and Information Technology
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Title Geometric formations in swarm aggregation: an artificial formation force based approach
Author(s) Ekanayake, Samitha
Pathirana, Pubudu
Conference name International Conference on Information and Automation for Sustainability (3rd: 2007: Melbourne, Vic.)
Conference location Melbourne, Australia
Conference dates 4-6 December 2007
Title of proceedings ICIAfS 2007 the 3rd International Conference on Information and Automation for Sustainability
Editor(s) [Unknown]
Publication date 2007
Conference series International Conference on Information and Automation for Sustainability
Start page 82
End page 87
Publisher The Institute of Electrical and Electronics Engineers, Inc (IEEE)
Place of publication Piscataway, N.J.
Keyword(s) cooperative systems
distributed control
geometric pattern formation
swarm
stability analysis
Summary Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding inter-member collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc.
ISBN 9781424419005
Language eng
Field of Research 099999 Engineering not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2007, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30008091
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