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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationSwarm Intelligence : 12th International Conference, ANTS 2020, Proceedings
EditorsMarco Dorigo, Thomas Stützle, Maria J. Blesa, Christian Blum, Heiko Hamann, Mary Katherine Heinrich, Volker Strobel
PublisherSpringer
Publication date2020
Pages306-314
ISBN (Print)9783030603755
ISBN (Electronic)978-3-030-60376-2
DOIs
Publication statusPublished - 2020
Event12th International Conference on Swarm Intelligence, ANTS 2020 - Barcelona, Spain
Duration: 26. Oct 202028. Oct 2020

Conference

Conference12th International Conference on Swarm Intelligence, ANTS 2020
Country/TerritorySpain
CityBarcelona
Period26/10/202028/10/2020
SeriesLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12421 LNCS
ISSN0302-9743

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