Model and application of swarm-robot systems based on distance-optimization correspondence

To control swarm-robot formations with more convenience, after defining the conception of distance-optimization correspondence, the model, principle and steps of the elimination method, an approach for distance-optimization correspondence, are described, and two basic theorems about the elimination method are also proofed. Based on above, the new model of swarm-robot systems is presented. Then a new class of artificial moment: repulsion moment of robot to robot is defined, and the new motion controller of the general robot is designed. Finally, a simulation is given and the result shows that the theories and methods proposed in this paper are feasible and valid.