Decentralized radial segregation in heterogeneous swarms of robots
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Universidade Federal de Minas Gerais
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This article proposes a decentralized control strategy to reach radial segregation in heterogeneous robot swarms. The approach is based on a consensus algorithm applied to virtual points attached to each robot and a heuristics to compute the distance between the robots and the virtual point. Two scenarios are considered: when robots have access to a global reference point and when robots can communicate through a fixed underlying topology. A convergence proof is presented. Simulations and experimental results show that our approach allows a swarm of multiple heterogeneous robots to segregate radially using local information.
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Robot kinematics , Topology , Heuristic algorithms , Convergence , Scholarships , Dynamics, Swarm Robotics , Heterogeneous Swarm , Heuristic , Proof Of Convergence , Virtual Point , Information Exchange , Optimal Control , Angular Velocity , Group Setting , Problem Definition , Robotic System , Linear Order , Multiple Integration , Value Of Radius , Robot Motion , Real Robot , Communication Topology , Change In Radius , Positive Gain , Robot Dynamics , Radius Ri , Angle Θi
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https://ieeexplore.ieee.org/document/9029848