NDLI: A Multi-robot Pattern Formation Algorithm Based on Distributed Swarm Intelligence

Content Provider	IEEE Xplore Digital Library
Author	Huaxing Xu Haibing Guan Alei Liang Xinan Yan
Copyright Year	2010
Abstract	This paper presents a solution to the problem of pattern formation on a grid map, for a homogeneous multi-robot system. In this paper we propose a natural swarm inspired algorithm based on the Particle Swarm Optimization (PSO) model and Virtual Pheromone mechanism. Basically, a virtual pheromone trail based method is proposed as the message passing mechanism among the robots, where robots make distributed movement decisions through local interactions. For one individual robot, there are two working modes, exploration and dispersion, with different indicators in the PSO model. By cooperating and communicating through the virtual pheromone, agents of the multi-robot system switch between the two phases. The PSO method helps to allocate reasonable robots to different parts of the predefined pattern. A series of experiments on simulator is carried out and proves the convergence and excellent scalability of our algorithm. By optimizing some parameter in the PSO model with the help of the simulator, the efficiency of pattern formation is further improved.
Starting Page	71
Ending Page	75
File Size	302617
Page Count	5
File Format	PDF
ISBN	9781424460793
e-ISBN	9781424460809
DOI	10.1109/ICCEA.2010.22
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-03-19
Publisher Place	Indonesia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pattern formation Shape Switches Multi-robot system Particle swarm optimization PSO Virtual Pheromone Robot kinematics Computer applications Grid computing Cost function Swarm intelligence Multirobot systems Large-scale systems
Content Type	Text
Resource Type	Article

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