Title :
Algorithm for swarm robot flocking behavior
Author :
Xiang, Li ; Ercan, M. Fikret ; Yi, Zhou ; Fung, Yu Fai
Author_Institution :
Sch. of Electr. & Electron. Eng., Singapore Polytech., Singapore
Abstract :
This paper presents a decentralized control algorithm for swarm of robots based on geometric approach. Our objective is to build a swarm that can demonstrate collective behavior. The control algorithm, which is executed by all the members of the swarm, is presented in details. Our simulation results show that group behaviors such as aggregation, obstacle avoidance and flocking are achieved successfully.
Keywords :
collision avoidance; decentralised control; distributed control; multi-robot systems; decentralized control algorithm; distributed control; obstacle avoidance; swarm robot flocking behavior; Birds; Centralized control; Costs; Distributed control; Inspection; Orbital robotics; Robot kinematics; Robot sensing systems; Surveillance; Turbines; Distributed control; Swarm robots;
Conference_Titel :
Autonomous Robots and Agents, 2009. ICARA 2009. 4th International Conference on
Conference_Location :
Wellington
Print_ISBN :
978-1-4244-2712-3
Electronic_ISBN :
978-1-4244-2713-0
DOI :
10.1109/ICARA.2000.4803943
