Cooperative interaction of walking human and distributed robot maintaining stability of swarm

This paper proposes a method of cooperative interaction that a human and distributed robots move cooperatively so as to maintain the swarm situation that robots surround the moving human. This paper is concerned with the control for maintaining the high stability of the swarm, and proposes a control algorithm for the robotic swarm in obstacle or slope space. The proposed algorithm for overcoming above problems is based on the center of gravity of the local swarm which attracts the robot to it, and is applied to the omni-directional mobile robots. It is confirmed that the effectiveness about maintaining the stability of the swarm through simulations using ODE (Open Dynamics Engine).