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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
Department海洋信息技术装备中心
Source PublicationAutonomous Robots
ISSN0929-5593
2019
Volume43Issue:6Pages:1505-1521
Indexed BySCI ; EI
EI Accession number20184406013455
WOS IDWOS:000474366100013
Contribution Rank1
Funding OrganizationNSERC Strategic Partnership Grant ; China Scholarship Council ; NSERC Research Tools and Infrastructure
KeywordSwarm robotics Pattern formation Progressive deployment Buzz
AbstractWe 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.
Language英语
WOS SubjectComputer Science, Artificial Intelligence ; Robotics
WOS KeywordPATTERN-FORMATION ; STABILIZATION ; GENERATION ; MOTION
WOS Research AreaComputer Science ; Robotics
Funding ProjectNSERC Strategic Partnership Grant[479149-2015] ; China Scholarship Council ; NSERC Research Tools and Infrastructure[2016-00599] ; NSERC Strategic Partnership Grant[479149-2015] ; China Scholarship Council ; NSERC Research Tools and Infrastructure[2016-00599]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23436
Collection海洋信息技术装备中心
Affiliation1.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
Recommended Citation
GB/T 7714
Li GN,St-Onge, David,Pinciroli, Carlo,et al. Decentralized progressive shape formation with robot swarms[J]. Autonomous Robots,2019,43(6):1505-1521.
APA Li GN,St-Onge, David,Pinciroli, Carlo,Gasparri, Andrea,Garone, Emanuele,&Beltrame, Giovanni.(2019).Decentralized progressive shape formation with robot swarms.Autonomous Robots,43(6),1505-1521.
MLA Li GN,et al."Decentralized progressive shape formation with robot swarms".Autonomous Robots 43.6(2019):1505-1521.
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