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Decentralized progressive shape formation with robot swarms
Li GN(李冠男)1,2,6; St-Onge, David6; Pinciroli, Carlo3; Gasparri, Andrea4; Garone, Emanuele5; Beltrame, Giovanni6
作者部门海洋信息技术装备中心
关键词Swarm robotics Pattern formation Progressive deployment Buzz
发表期刊Autonomous Robots
ISSN0929-5593
2018
页码1-17
收录类别EI
EI收录号20184406013455
产权排序1
资助机构NSERC Strategic Partnership Grant No. 479149-2015 ; NSERC Research Tools and Infrastructure Grant No. 2016-00599 ; China Scholarship Council
摘要We address the problem of progressively deploying a set of robots to a formation defined as a point cloud, in a decentralized manner. To achieve this, we present an algorithm that transforms a given point cloud into an acyclic directed graph. This graph is used by the control law to allow a swarm of robots to progressively form the target shape based only on local decisions. This means that free robots (i.e., not yet part of the formation) find their location based on the perceived location of the robots already in the formation. We prove that for a 2D shape it is sufficient for a free robot to compute its distance from two robots in the formation to achieve this objective. We validate our method using physics-based simulations and robotic experiments, showing consistent convergence and minimal formation placement error.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/23436
专题海洋信息技术装备中心
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, No. 114 Nanta Street, Shenhe District, Shenyang, China
2.University of Chinese Academy of Sciences, 19 A Yuquan Rd, Shijingshan District, Beijing, China
3.Worcester Polytechnic Institute, 100 Institute Rd, Worcester
4.MA 01609, United States
5.Department of Engineering, Università Roma Tre, Via della Vasca Navale 79, Rome 00146, Italy
6.Université Libre de Bruxelles, 50 Avenue F. D. Roosevelt, Brussels 1050, Belgium
7.Polytechnique Montréal, 2500 chemin de Polytechnique, Montréal, QC, Canada
推荐引用方式
GB/T 7714
Li GN,St-Onge, David,Pinciroli, Carlo,et al. Decentralized progressive shape formation with robot swarms[J]. Autonomous Robots,2018:1-17.
APA Li GN,St-Onge, David,Pinciroli, Carlo,Gasparri, Andrea,Garone, Emanuele,&Beltrame, Giovanni.(2018).Decentralized progressive shape formation with robot swarms.Autonomous Robots,1-17.
MLA Li GN,et al."Decentralized progressive shape formation with robot swarms".Autonomous Robots (2018):1-17.
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