DocumentCode
416959
Title
Adaptive swarming by exploiting hydrodynamic interaction based on Stokesian Dynamics method
Author
Shimizu, Masahiro ; Ishiguro, Akio ; Kawakatsu, Toshihiro ; Masubuchi, Yuichi ; Doi, Masao
Author_Institution
Dept. of Comput. Sci. & Eng., Nagoya Univ., Japan
Volume
2
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
1546
Abstract
This paper discusses a fully decentralized algorithm able to create an adaptive swarm of autonomous mobile robots from the viewpoint of "computational physics". To this end, we particularly focus on "Stokesian Dynamics method". Simulation results indicate that the proposed algorithm can control the shape of the swarm appropriately according to the current situation without losing the coherence of the swarm.
Keywords
control system analysis computing; mobile robots; multi-robot systems; robot dynamics; shape control; Stokesian dynamics method; adaptive swarming; autonomous mobile robots; computational physics; control system analysis computing; decentralized algorithm; hydrodynamic interaction; shape control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1324202
Link To Document