NDLI: Decentralized control of mobile robotic sensors: Vicsek's model revisited

Content Provider	IEEE Xplore Digital Library
Author	Ahmad, W.
Copyright Year	2014
Description	Author affiliation: Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia (Ahmad, W.)
Abstract	We address the discrete time control of a team of mobile robots reaching a consensus in terms of the same heading angle. In fact, our discrete time control strategy is inspired from Vicsek's model for decentralized coordination of a team of agents. Some researchers have already shown appearance of a cyclic behaviour in Vicsek's model. The existence of a cyclic behaviour prevents the mobile robots to reach a constant heading angle. We define simple rules for the quantized control of mobile robots to reach a constant heading. The simulation study has revealed that a cyclic behaviour of discrete time Vicsek's model can be avoided by the use of an alternate biased strategy bringing the calculated heading angle of a mobile robot to a quantized level. We update the discrete time individual heading angle of a mobile robot based on the self biased or neighbour biased strategy. A number of numerical simulations have been performed to check the avoidance of a cyclic behaviour in the discrete time swarm of mobile robots meeting constraints.
Starting Page	2171
Ending Page	2176
File Size	122301
Page Count	6
File Format	PDF
ISBN	9781479974092
DOI	10.1109/CCA.2014.6981624
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Mathematical model Decentralized control Mobile communication Robot sensing systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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