Decentralized radial segregation in heterogeneous swarms of robots

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dc.creatorEdson Bernardes Ferreira Filho
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-05-09T12:28:05Z
dc.date.accessioned2025-09-09T00:56:40Z
dc.date.available2025-05-09T12:28:05Z
dc.date.issued2019
dc.identifier.doi10.1109/CDC40024.2019.9029848
dc.identifier.urihttps://hdl.handle.net/1843/82172
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof58th Conference on Decision and Control (CDC)
dc.rightsAcesso Restrito
dc.subjectRobótica
dc.subject.otherRobot kinematics , Topology , Heuristic algorithms , Convergence , Scholarships , Dynamics
dc.subject.otherSwarm 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
dc.titleDecentralized radial segregation in heterogeneous swarms of robots
dc.typeArtigo de evento
local.citation.epage5728
local.citation.spage5723
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/9029848

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