Formation Control of UAVs and Mobile Robots Using Self-organized Communication Topologies

Weixu Zhu*, Michael Allwright, Mary Katherine Heinrich, Sinan Oğuz, Anders Lyhne Christensen, Marco Dorigo

*Kontaktforfatter for dette arbejde

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

Formation control in a robot swarm targets the overall swarm shape and relative positions of individual robots during navigation. Existing approaches often use a global reference or have limited topology flexibility. We propose a novel approach without these constraints, by extending the concept of ‘mergeable nervous systems’ to establish distributed asymmetric control via a self-organized wireless communication network. In simulated experiments with UAVs and mobile robots, we present a proof-of-concept for three sub-tasks of formation control: formation establishment, maintenance during motion, and deformation. We also assess the fault tolerance and scalability of our approach.

OriginalsprogEngelsk
TitelSwarm Intelligence : 12th International Conference, ANTS 2020, Proceedings
RedaktørerMarco Dorigo, Thomas Stützle, Maria J. Blesa, Christian Blum, Heiko Hamann, Mary Katherine Heinrich, Volker Strobel
ForlagSpringer
Publikationsdato2020
Sider306-314
ISBN (Trykt)9783030603755
ISBN (Elektronisk)978-3-030-60376-2
DOI
StatusUdgivet - 2020
Begivenhed12th International Conference on Swarm Intelligence, ANTS 2020 - Barcelona, Spanien
Varighed: 26. okt. 202028. okt. 2020

Konference

Konference12th International Conference on Swarm Intelligence, ANTS 2020
LandSpanien
ByBarcelona
Periode26/10/202028/10/2020
NavnLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Vol/bind12421 LNCS
ISSN0302-9743

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