NDLI: Robust self-organization for swarm robots

Content Provider	IEEE Xplore Digital Library
Author	Kim, D.H. Sung Hyun Han
Copyright Year	2008
Description	Author affiliation: Div. of Mech. Eng. & Autom., Kyungnam Univ. (Sung Hyun Han) \|\| Dept. of Electr. Eng., Kyungnam Univ. (Kim, D.H.)
Abstract	This paper presents a self-organizing scheme for multi-agent swarm systems based on coupled nonlinear oscillators (CNOs). In this scheme, unicycle robots self-organize to flock and arrange group formation through attractive and repulsive forces among themselves. It is also shown how localized distributed controls are utilized throughout group behaviors such as formation and migration. The proposed self-organization scheme maintains robust formation and provides reasonable accuracy in the face of significant positioning and movement error. In the paper, the proposed formation ensures safe separation and good cohesion performance among the robots. Several examples show that the proposed self-organizing scheme provides a robust formation behavior maintaining a constant variance value effectively.
Starting Page	1228
Ending Page	1233
File Size	463478
Page Count	6
File Format	PDF
ISBN	9788995003893
DOI	10.1109/ICCAS.2008.4694336
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-10-14
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Control systems Path planning path planning Mobile robots Robotics and automation Guidelines local minimum Robot kinematics potential function Distributed control Automatic control Robot sensing systems Robustness Formation
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
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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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