Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Shape transformation using variational implicit functions
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Implicit Surfaces that Interpolate
SMI '01 Proceedings of the International Conference on Shape Modeling & Applications
Multiplicative potential energy function for swarm control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Traffic control for a swarm of robots: avoiding group conflicts
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Traffic control for a swarm of robots: avoiding target congestion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Attractor dynamics approach to formation control: theory and application
Autonomous Robots
Decentralized control of multi-agent systems for swarming with a given geometric pattern
Computers & Mathematics with Applications
A morphogenetic framework for self-organized multirobot pattern formation and boundary coverage
ACM Transactions on Autonomous and Adaptive Systems (TAAS) - Special section on formal methods in pervasive computing, pervasive adaptation, and self-adaptive systems: Models and algorithms
Image and animation display with multiple mobile robots
International Journal of Robotics Research
Evolving network motifs based morphogenetic approach for self-organizing robotic swarms
Proceedings of the 14th annual conference on Genetic and evolutionary computation
Multi-group coordination control for robot swarms
Automatica (Journal of IFAC)
A morphogenetic approach to flexible and robust shape formation for swarm robotic systems
Robotics and Autonomous Systems
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We address the synthesis of controllers for a swarm of robots to generate a desired two-dimensional geometric pattern specified by a simple closed planar curve with local interactions for avoiding collisions or maintaining specified relative distance constraints. The controllers are decentralized in the sense that the robots do not need to exchange or know each other's state information. Instead, we assume that the robots have sensors allowing them to obtain information about relative positions of neighbors within a known range. We establish stability and convergence properties of the controllers for a certain class of simple closed curves. We illustrate our approach through simulations and consider extensions to more general planar curves.