Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Artificial fishes: physics, locomotion, perception, behavior
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Group Behaviors for Systems with Significant Dynamics
Autonomous Robots
Dynamic region following formation control for a swarm of robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Abstraction and control for Groups of robots
IEEE Transactions on Robotics
Dynamic region following formation control for a swarm of robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Multiplicative potential energy function for swarm control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multi-robot team coordination through roles, positionings and coordinated procedures
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper presents a dynamic region following formation control method for a swarm of robots. In this control strategy, a swarm of robots shall move together as a group inside a dynamic region that can rotate or scale to enable the robots to adjust the formation. Various desired shapes can be formed by choosing appropriate functions. Unlike existing formation control methods, the proposed method do not need to have specific identities or orders in the group but yet dynamic formation can be formed for a large group of robots. This enables a swarm of robots to adjust the formation during the course of maneuver. The system is also scalable in the sense that any robot can move into the formation or leave the formation without affecting the other robots. Lyapunov-like function is presented for convergence analysis of the multi-robot systems. Simulation results are presented to illustrate the performance of the proposed controller.