Multiplicative potential energy function for swarm control

Authors:
Saing Paul Hou;Chien Chern Cheah
Affiliations:
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper presents a novel method for shape control of a swarm of robots based on region control concept. Multiplicative potential energy function is used to form the overall desired shape of the entire swarm. The shape formed using this method is a union of all the regions defined by corresponding inequality functions. This proposed method is a complement to our previous method where the additive potential energy is used to form the desired shape. By combining the multiplicative and additive potential energies, a variety of complicated shapes can be formed. Lyapunov-like function is presented for convergence analysis of the multi-robot systems. Simulation results are presented to illustrate the performance of the proposed method.