Decentralized progressive shape formation with robot swarms

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	Decentralized progressive shape formation with robot swarms
	Gasparri, Andrea 3; Li GN(李冠男)1,5,7 ; St-Onge, David 5; Pinciroli, Carlo 2; Garone, Emanuele 4; Beltrame, Giovanni 5
刊名	Autonomous Robots
	2018
页码	1-17
关键词	Swarm robotics Pattern formation Progressive deployment Buzz
ISSN号	0929-5593
产权排序	1
英文摘要	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
资助机构	NSERC Strategic Partnership Grant No. 479149-2015 ; NSERC Research Tools and Infrastructure Grant No. 2016-00599 ; China Scholarship Council
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/23436]
专题	沈阳自动化研究所_海洋信息技术装备中心
作者单位	1.University of Chinese Academy of Sciences, 19 A Yuquan Rd, Shijingshan District, Beijing, China 2.Worcester Polytechnic Institute, 100 Institute Rd, Worcester 3.MA 01609, United States 4.Department of Engineering, Università Roma Tre, Via della Vasca Navale 79, Rome 00146, Italy 5.Université Libre de Bruxelles, 50 Avenue F. D. Roosevelt, Brussels 1050, Belgium 6.Polytechnique Montréal, 2500 chemin de Polytechnique, Montréal, QC, Canada 7.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, No. 114 Nanta Street, Shenhe District, Shenyang, China
推荐引用方式 GB/T 7714	Gasparri, Andrea,Li GN,St-Onge, David,et al. Decentralized progressive shape formation with robot swarms[J]. Autonomous Robots,2018:1-17.
APA	Gasparri, Andrea,Li GN,St-Onge, David,Pinciroli, Carlo,Garone, Emanuele,&Beltrame, Giovanni.(2018).Decentralized progressive shape formation with robot swarms.Autonomous Robots,1-17.
MLA	Gasparri, Andrea,et al."Decentralized progressive shape formation with robot swarms".Autonomous Robots (2018):1-17.