Prominence convergence in the collective synchronization of situated multi-agents
Information Processing Letters
Robotics and Autonomous Systems
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Artificial force field for haptic feedback in UAV teleoperation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Self-organizing potential field network: a new optimization algorithm
IEEE Transactions on Neural Networks
A Harmonic Potential Approach for Simultaneous Planning and Control of a Generic UAV Platform
Journal of Intelligent and Robotic Systems
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
Evolving network motifs based morphogenetic approach for self-organizing robotic swarms
Proceedings of the 14th annual conference on Genetic and evolutionary computation
A morphogenetic approach to flexible and robust shape formation for swarm robotic systems
Robotics and Autonomous Systems
Modification and comparative analysis of smooth control laws for a group of agents
Automation and Remote Control
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Spatial multiagency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving the sharing of resources by more than one agent. A traffic management system is one of these applications. Here, a large group of mobile robots that are operating in communication-limited, and sensory-limited modes are required to cope with each others presence as well as the contents of their environment while preserving their ability to reach their preset independent goals. This paper explores the construction of a decentralized traffic controller for a large group of agents sharing a workspace with stationary forbidden regions. The suggested multiagent motion controller is complete provided that a lenient condition on the geometry of the workspace is upheld. It has a low computational effort that linearly increases with the number of agents. The controller is also self-organizing; therefore, it is able to deal, on its own, with incomplete information and unexpected situations. In addition to the above, the controller has an open structure to enable any agent to join or leave the group without the remaining agents having to adjust the manner in which they function. To meet these requirements, a definition of decentralization is suggested. This definition equates decentralization to self-organization in a group of agents operating in an artificial-life mode. The definition is used to provide guidelines for the construction of the multiagent controller. The controller is realized using the potential field approach. Theoretical developments, as well as simulation results, are provided