TY - CHAP
T1 - Shape control of robot swarms with multilevel-based topology design
AU - Yan, Xiao
AU - Sun, Dong
PY - 2016/12/12
Y1 - 2016/12/12
N2 - Significant attentions have been drawn to the cooperative control of robot swarms from researchers all over the world during the past decade. This chapter mainly focuses on the shape control problem of a group of homogeneous mobile robots moving into a desired region. A novel topology design of the robot group is proposed with a multilevel-based structure, which can be utilized to construct different shapes for the robot group within the desired region. A controller employing several potential forces is developed to control the robots in forming the desired formation shape while avoiding collisions during their movements. The local minima problem which may cause the robots stuck at undesired positions is further addressed with a novel shape regulation control force. The stability of the controlled system is analyzed using a Lyapunov approach. Simulations and experiments are demonstrated to show the effectiveness of the proposed approach.
AB - Significant attentions have been drawn to the cooperative control of robot swarms from researchers all over the world during the past decade. This chapter mainly focuses on the shape control problem of a group of homogeneous mobile robots moving into a desired region. A novel topology design of the robot group is proposed with a multilevel-based structure, which can be utilized to construct different shapes for the robot group within the desired region. A controller employing several potential forces is developed to control the robots in forming the desired formation shape while avoiding collisions during their movements. The local minima problem which may cause the robots stuck at undesired positions is further addressed with a novel shape regulation control force. The stability of the controlled system is analyzed using a Lyapunov approach. Simulations and experiments are demonstrated to show the effectiveness of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=85018604587&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85018604587&origin=recordpage
U2 - 10.4018/978-1-5225-1759-7.ch023
DO - 10.4018/978-1-5225-1759-7.ch023
M3 - RGC 12 - Chapter in an edited book (Author)
SN - 9781522517603
SN - 1522517596
SN - 9781522517597
VL - 1
SP - 525
EP - 557
BT - Artificial Intelligence: Concepts, Methodologies, Tools, and Applications
PB - IGI Global Publishing
ER -