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Geometric formations in swarm aggregation: an artificial formation force based approach
conference contribution
posted on 2007-01-01, 00:00 authored by Samitha Ekanayake, Pubudu PathiranaPubudu PathiranaCooperative 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.
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Event
International Conference on Information and Automation for Sustainability (3rd: 2007: Melbourne, Vic.)Pagination
82 - 87Publisher
The Institute of Electrical and Electronics Engineers, Inc (IEEE)Location
Melbourne, AustraliaPlace of publication
Piscataway, N.J.Start date
2007-12-04End date
2007-12-06ISBN-13
9781424419005Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2007, IEEETitle of proceedings
ICIAfS 2007 the 3rd International Conference on Information and Automation for SustainabilityUsage metrics
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