Fluids in Electrostatic Fields: An Analogy for Multirobot Control

Author

Pimenta, Luciano C A ; Mendes, Miguel L. ; Mesquita, Renato C. ; Pereira, Guilherme A S

Author_Institution

Univ. Fed. de Minas Gerais, Belo Horizonte

Volume

43

Issue

4

fYear

2007

fDate

4/1/2007 12:00:00 AM

Firstpage

1765

Lastpage

1768

Abstract

This paper addresses the problem of controlling a large group of robots in a 2-D pattern generation task. Different from previous methodologies, our approach can be used in generic static environments, where obstacles may appear. This approach is based on the analogy with the simulation of fluids in electrostatic fields. By means of a weak coupling between the smoothed particle hydrodynamics and the finite element method we derive a scalable solution where decentralized controllers are provided

Keywords

decentralised control; electrostatic devices; finite element analysis; hydrodynamics; multi-robot systems; 2D pattern generation task; decentralized controllers; electrostatic field fluids; finite element method; generic static environments; multirobot control; smoothed particle hydrodynamics; Electrostatics; Finite element methods; Hazardous areas; Hydrodynamics; Mobile robots; Orbital robotics; Robot control; Robot sensing systems; Solid modeling; Surveillance; Electric fields; hydrodynamics; mobile robots;

fLanguage

English

Journal_Title

Magnetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9464

Type

jour

DOI

10.1109/TMAG.2007.892514

Filename

4137791