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Upravlenie Bol'shimi Sistemami, 2015, Issue 58, Pages 285–305
(Mi ubs850)
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This article is cited in 1 scientific paper (total in 1 paper)
Remote Control and Navigation
Reconfiguration of robot swarm formation
I. V. Vatamanyuk, G. Yu. Panina, A. L. Ronzhin St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences
Abstract:
An algorithm of control and navigation for a swarm of autonomous homogeneous mobile robots involved in the formation of a convex space surface is discussed. Robot trajectories during reconfiguration minimize the cost of time and energy (computation time and the total length of robot paths), taking into account collision control. The developed algorithm has quadratic computational complexity. During the experiments reconfiguration of a swarm with various numbers of robots (from 10 to 10,000 robots) was modeled. The number of collisions was evaluated assuming massed start of all robots.
Keywords:
robot swarm, topological robotics, surface imitation, group control, unmanned vehicles, robotic systems.
Received: June 3, 2015 Published: November 30, 2015
Citation:
I. V. Vatamanyuk, G. Yu. Panina, A. L. Ronzhin, “Reconfiguration of robot swarm formation”, UBS, 58 (2015), 285–305
Linking options:
https://www.mathnet.ru/eng/ubs850 https://www.mathnet.ru/eng/ubs/v58/p285
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Statistics & downloads: |
Abstract page: | 310 | Full-text PDF : | 104 | References: | 42 |
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