Title :
Fluids in Electrostatic Fields: An Analogy for Multirobot Control
Author :
Pimenta, Luciano C A ; Mendes, Miguel L. ; Mesquita, Renato C. ; Pereira, Guilherme A S
Author_Institution :
Univ. Fed. de Minas Gerais, Belo Horizonte
fDate :
4/1/2007 12:00:00 AM
Abstract :
This paper addresses the problem of controlling a large group of robots in a 2-D pattern generation task. Different from previous methodologies, our approach can be used in generic static environments, where obstacles may appear. This approach is based on the analogy with the simulation of fluids in electrostatic fields. By means of a weak coupling between the smoothed particle hydrodynamics and the finite element method we derive a scalable solution where decentralized controllers are provided
Keywords :
decentralised control; electrostatic devices; finite element analysis; hydrodynamics; multi-robot systems; 2D pattern generation task; decentralized controllers; electrostatic field fluids; finite element method; generic static environments; multirobot control; smoothed particle hydrodynamics; Electrostatics; Finite element methods; Hazardous areas; Hydrodynamics; Mobile robots; Orbital robotics; Robot control; Robot sensing systems; Solid modeling; Surveillance; Electric fields; hydrodynamics; mobile robots;
Journal_Title :
Magnetics, IEEE Transactions on
DOI :
10.1109/TMAG.2007.892514
