Formations of robotic swarm : an artificial force based approach

Ekanayake, Samitha W. and Pathirana, Pubudu 2009, Formations of robotic swarm : an artificial force based approach, International journal of advanced robotic systems, vol. 6, no. 1, pp. 7-24.

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Title Formations of robotic swarm : an artificial force based approach
Author(s) Ekanayake, Samitha W.
Pathirana, PubuduORCID iD for Pathirana, Pubudu
Journal name International journal of advanced robotic systems
Volume number 6
Issue number 1
Start page 7
End page 24
Total pages 18
Publisher Vienna University of Technology
Place of publication Vienna, Austria
Publication date 2009-03
ISSN 1729-8806
Keyword(s) Cooperative systems
Distributed control
Geometric pattern formation
Multi-Agent System
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. Also the performance of the proposed distributed swarm control architecture was investigated in the presence of realistic implementation issues such as localization errors, communication range limitations, boundedness of forces etc.
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
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