Proceedings Article10.1109/IROS47612.2022.9981959
Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation
Himani Sinhmar,Hadas Kress-Gazit +1 more
- 23 Oct 2022
pp 7251-7258
1
TL;DR: In this paper , a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities is proposed to generate desired complex swarm behavior with constrained individual robots which have no memory, no localization, and no knowledge of the exact relative locations of their neighbors.
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Abstract: We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the environment while avoiding collisions with both static and dynamic obstacles. The novelty of this work is the guaranteed generation of desired complex swarm behavior with constrained individual robots which have no memory, no localization, and no knowledge of the exact relative locations of their neighbors. Moreover, we analyze how the emergent behavior changes with different parameters of the task, noise in the sensor reading, and asynchronous execution.
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Citations
Guaranteed Encapsulation of Targets with Unknown Motion by a Minimalist Robotic Swarm
Himani Sinhmar,Hadas Kress-Gazit +1 more
TL;DR: In this paper , a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment is presented, where the robots do not know the exact relative location of any robot or target in the environment.
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