DocumentCode
2426757
Title
Flocking for Heterogeneous Robot Swarms: A Military Convoy Scenario
Author
McCook, Christopher J R ; Esposito, Joel M.
Author_Institution
United States Naval Acad., Annapolis, MD
fYear
2007
fDate
4-6 March 2007
Firstpage
26
Lastpage
31
Abstract
In this paper we apply a popular flocking control algorithm to a heterogeneous swarm of robots. The flocking controller contains separation, cohesion and velocity matching terms and has been shown to converge properly in the case of homogeneous swarms. The swarm models a military convoy unit with supply vehicles, defenders, and attackers. Each class of vehicle possesses different maneuvering capabilities and different objectives. In each case we modify the controller accordingly and analyze the emergent behavior of the swarm.
Keywords
control system synthesis; military systems; mobile robots; multi-robot systems; position control; flocking control; heterogeneous robot swarms; military convoy; robot cohesion; robot separation; supply vehicles; velocity matching; Control design; Control systems; Displays; Explosives; Humans; Joining processes; Robot control; Robot kinematics; Vehicles; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 2007. SSST '07. Thirty-Ninth Southeastern Symposium on
Conference_Location
Macon, GA
ISSN
0094-2898
Print_ISBN
1-4244-1126-2
Electronic_ISBN
0094-2898
Type
conf
DOI
10.1109/SSST.2007.352311
Filename
4160797
Link To Document