DocumentCode
3029515
Title
Algorithm for swarm robot flocking behavior
Author
Xiang, Li ; Ercan, M. Fikret ; Yi, Zhou ; Fung, Yu Fai
Author_Institution
Sch. of Electr. & Electron. Eng., Singapore Polytech., Singapore
fYear
2009
fDate
10-12 Feb. 2009
Firstpage
161
Lastpage
165
Abstract
This paper presents a decentralized control algorithm for swarm of robots based on geometric approach. Our objective is to build a swarm that can demonstrate collective behavior. The control algorithm, which is executed by all the members of the swarm, is presented in details. Our simulation results show that group behaviors such as aggregation, obstacle avoidance and flocking are achieved successfully.
Keywords
collision avoidance; decentralised control; distributed control; multi-robot systems; decentralized control algorithm; distributed control; obstacle avoidance; swarm robot flocking behavior; Birds; Centralized control; Costs; Distributed control; Inspection; Orbital robotics; Robot kinematics; Robot sensing systems; Surveillance; Turbines; Distributed control; Swarm robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Robots and Agents, 2009. ICARA 2009. 4th International Conference on
Conference_Location
Wellington
Print_ISBN
978-1-4244-2712-3
Electronic_ISBN
978-1-4244-2713-0
Type
conf
DOI
10.1109/ICARA.2000.4803943
Filename
4803943
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