Adaptive Flocking of Robot Swarms: Algorithms and Properties
Summary :
This paper presents a distributed approach for adaptive flocking of swarms of mobile robots that enables to navigate autonomously in complex environments populated with obstacles. Based on the observation of the swimming behavior of a school of fish, we propose an integrated algorithm that allows a swarm of robots to navigate in a coordinated manner, split into multiple swarms, or merge with other swarms according to the environment conditions. We prove the convergence of the proposed algorithm using Lyapunov stability theory. We also verify the effectiveness of the algorithm through extensive simulations, where a swarm of robots repeats the process of splitting and merging while passing around multiple stationary and moving obstacles. The simulation results show that the proposed algorithm is scalable, and robust to variations in the sensing capability of individual robots.
- Publication
- IEICE TRANSACTIONS on Communications Vol.E91-B No.9 pp.2848-2855
- Publication Date
- 2008/09/01
- Publicized
- Online ISSN
- 1745-1345
- DOI
- 10.1093/ietcom/e91-b.9.2848
- Type of Manuscript
- Special Section PAPER (IEICE/IEEE Joint Special Section on Autonomous Decentralized Systems Theories and Application Deployments)
- Category
- Theories
Authors
Keyword
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Geunho LEE, Nak Young CHONG, "Adaptive Flocking of Robot Swarms: Algorithms and Properties" in IEICE TRANSACTIONS on Communications,
vol. E91-B, no. 9, pp. 2848-2855, September 2008, doi: 10.1093/ietcom/e91-b.9.2848.
Abstract: This paper presents a distributed approach for adaptive flocking of swarms of mobile robots that enables to navigate autonomously in complex environments populated with obstacles. Based on the observation of the swimming behavior of a school of fish, we propose an integrated algorithm that allows a swarm of robots to navigate in a coordinated manner, split into multiple swarms, or merge with other swarms according to the environment conditions. We prove the convergence of the proposed algorithm using Lyapunov stability theory. We also verify the effectiveness of the algorithm through extensive simulations, where a swarm of robots repeats the process of splitting and merging while passing around multiple stationary and moving obstacles. The simulation results show that the proposed algorithm is scalable, and robust to variations in the sensing capability of individual robots.
URL: https://global.ieice.org/en_transactions/communications/10.1093/ietcom/e91-b.9.2848/_p
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@ARTICLE{e91-b_9_2848,
author={Geunho LEE, Nak Young CHONG, },
journal={IEICE TRANSACTIONS on Communications},
title={Adaptive Flocking of Robot Swarms: Algorithms and Properties},
year={2008},
volume={E91-B},
number={9},
pages={2848-2855},
abstract={This paper presents a distributed approach for adaptive flocking of swarms of mobile robots that enables to navigate autonomously in complex environments populated with obstacles. Based on the observation of the swimming behavior of a school of fish, we propose an integrated algorithm that allows a swarm of robots to navigate in a coordinated manner, split into multiple swarms, or merge with other swarms according to the environment conditions. We prove the convergence of the proposed algorithm using Lyapunov stability theory. We also verify the effectiveness of the algorithm through extensive simulations, where a swarm of robots repeats the process of splitting and merging while passing around multiple stationary and moving obstacles. The simulation results show that the proposed algorithm is scalable, and robust to variations in the sensing capability of individual robots.},
keywords={},
doi={10.1093/ietcom/e91-b.9.2848},
ISSN={1745-1345},
month={September},}
Copy
TY - JOUR
TI - Adaptive Flocking of Robot Swarms: Algorithms and Properties
T2 - IEICE TRANSACTIONS on Communications
SP - 2848
EP - 2855
AU - Geunho LEE
AU - Nak Young CHONG
PY - 2008
DO - 10.1093/ietcom/e91-b.9.2848
JO - IEICE TRANSACTIONS on Communications
SN - 1745-1345
VL - E91-B
IS - 9
JA - IEICE TRANSACTIONS on Communications
Y1 - September 2008
AB - This paper presents a distributed approach for adaptive flocking of swarms of mobile robots that enables to navigate autonomously in complex environments populated with obstacles. Based on the observation of the swimming behavior of a school of fish, we propose an integrated algorithm that allows a swarm of robots to navigate in a coordinated manner, split into multiple swarms, or merge with other swarms according to the environment conditions. We prove the convergence of the proposed algorithm using Lyapunov stability theory. We also verify the effectiveness of the algorithm through extensive simulations, where a swarm of robots repeats the process of splitting and merging while passing around multiple stationary and moving obstacles. The simulation results show that the proposed algorithm is scalable, and robust to variations in the sensing capability of individual robots.
ER -
English
