Abstraction based approach for segregation in heterogeneous robotic swarms

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dc.creatorEdson Ferreira Filho
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-05-15T14:23:00Z
dc.date.accessioned2025-09-08T23:29:03Z
dc.date.available2025-05-15T14:23:00Z
dc.date.issued2019
dc.identifier.doihttps://doi.org/10.1016/j.robot.2019.103295
dc.identifier.issn0921-8890
dc.identifier.urihttps://hdl.handle.net/1843/82303
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofRobotics and autonomous systems
dc.rightsAcesso Restrito
dc.subjectRobótica
dc.subject.otherWe propose a novel controller to solve the swarm segregation problem. Different from other works we present convergence proofs. We provide a collision avoidance scheme. Simulation results and experiments with real robots are presented.
dc.subject.otherRobot swarms, Heterogeneous swarms, Segregation behavior, Abstractions
dc.titleAbstraction based approach for segregation in heterogeneous robotic swarms
dc.typeArtigo de periódico
local.citation.epage(1-16)
local.citation.spage103295
local.citation.volume122
local.description.resumoThe focus of this study is to design individual control laws that segregate multiple groups of mobile heterogeneous robots. Our approach is based on the use of abstractions to represent each group of robots and an artificial potential function to segregate the groups. Different from other works in the literature, we prove that with our controller the system will always converge to a state where robots of the same group will be together while separated from robots of different groups. We also propose a collision avoidance scheme which does not interfere in the segregation controller. Furthermore, our controller has a local property, meaning that the controller might not require global information of the whole swarm to converge to the segregated state. The approach is validated with simulations varying the number of robots and groups and experiments with real robots.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sciencedirect.com/science/article/pii/S0921889018310042

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