Nonlinear Spline Generation with Curve Evolutions Driven by Curvature
SMI '99 Proceedings of the International Conference on Shape Modeling and Applications
Gradient flows and geometric active contour models
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Dynamically coupled particle systems for geometric modeling, reconstruction, and animation
Dynamically coupled particle systems for geometric modeling, reconstruction, and animation
Stability analysis of social foraging swarms
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Automatic generation of persistent formations for multi-agent networks under range constraints
Proceedings of the 1st international conference on Robot communication and coordination
Decentralized Control for Swarm Flocking in 3D Space
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Supervised self-organization of large homogeneous swarms using ergodic projections of Markov chains
ACC'09 Proceedings of the 2009 conference on American Control Conference
Supervised self-organization of homogeneous swarms using ergodic projections of Markov chains
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Automatic Generation of Persistent Formations for Multi-agent Networks Under Range Constraints
Mobile Networks and Applications
Attractor dynamics approach to formation control: theory and application
Autonomous Robots
A regular tetrahedron formation strategy for swarm robots in three-dimensional environment
HAIS'10 Proceedings of the 5th international conference on Hybrid Artificial Intelligence Systems - Volume Part I
Multilevel-based topology design and shape control of robot swarms
Automatica (Journal of IFAC)
Swarm interpolation using an approximate chebyshev distribution
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
A morphogenetic approach to flexible and robust shape formation for swarm robotic systems
Robotics and Autonomous Systems
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In this paper, we study large formations of underwater autonomous vehicles for the purposes of exploration and sampling the ocean surface. The formations or aggregates we consider are composed of up to hundreds of robots with the capability of forming various complex shapes dictated by the shape of the region to be explored, as well as special shapes suitable for migration. The shapes are determined through bathymetric maps and described with reduced-dimensional representation techniques. The approach we propose is that of breaking up the control and coordination strategy into two decoupled problems, i.e., partitioning the aggregate into two non-overlapping sets: its boundary and its interior. The boundary uses general theory of curve evolution to form shapes while the interior passively complies, using attraction-repulsion forces, to form a uniform distribution inside the boundary. This makes the problem much more tractable than previous methods. Decision making by individual robots is entirely based on local information, autonomous underwater vehicles, formation control, swarm control.