Decentralized progressive shape formation with robot swarms
文献类型：期刊论文
| 作者 | Li, Guannan1,2,6; St-Onge, David6; Pinciroli, Carlo3; Gasparri, Andrea4; Garone, Emanuele5; Beltrame, Giovanni6 |
| 刊名 | AUTONOMOUS ROBOTS
 |
| 出版日期 | 2019-08-01 |
| 卷号 | 43期号:6页码:1505-1521 |
| 关键词 | Swarm robotics Pattern formation Progressive deployment Buzz |
| ISSN号 | 0929-5593 |
| DOI | 10.1007/s10514-018-9807-5 |
| 通讯作者 | Li, Guannan(liguannan@sia.cn) |
| 英文摘要 | We address the problem of progressively deploying a set of robots to a formation defined as a point cloud, in a decentralized manner. To achieve this, we present an algorithm that transforms a given point cloud into an acyclic directed graph. This graph is used by the control law to allow a swarm of robots to progressively form the target shape based only on local decisions. This means that free robots (i.e., not yet part of the formation) find their location based on the perceived location of the robots already in the formation. We prove that for a 2D shape it is sufficient for a free robot to compute its distance from two robots in the formation to achieve this objective. We validate our method using physics-based simulations and robotic experiments, showing consistent convergence and minimal formation placement error. |
| 资助项目 | NSERC Strategic Partnership Grant[479149-2015] ; China Scholarship Council ; NSERC Research Tools and Infrastructure[2016-00599] |
| WOS研究方向 | Computer Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000474366100013 |
| 出版者 | SPRINGER |
| 资助机构 | NSERC Strategic Partnership Grant ; China Scholarship Council ; NSERC Research Tools and Infrastructure |
| 源URL | [http://ir.imr.ac.cn/handle/321006/134403]  |
| 专题 | 金属研究所_中国科学院金属研究所 |
| 通讯作者 | Li, Guannan |
| 作者单位 | 1.Univ Chinese Acad Sci, 19 A Yuquan Rd, Beijing, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, 114 Nanta St, Shenyang, Liaoning, Peoples R China 3.Worcester Polytech Inst, 100 Inst Rd, Worcester, MA 01609 USA 4.Univ Roma Tre, Dept Engn, Via Vasca Navale 79, I-00146 Rome, Italy 5.Univ Libre Bruxelles, 50 Ave FD Roosevelt, B-1050 Brussels, Belgium 6.Polytech Montreal, 2500 Chemin Polytech, Montreal, PQ, Canada |
| 推荐引用方式 GB/T 7714 | Li, Guannan,St-Onge, David,Pinciroli, Carlo,et al. Decentralized progressive shape formation with robot swarms[J]. AUTONOMOUS ROBOTS,2019,43(6):1505-1521. |
| APA | Li, Guannan,St-Onge, David,Pinciroli, Carlo,Gasparri, Andrea,Garone, Emanuele,&Beltrame, Giovanni.(2019).Decentralized progressive shape formation with robot swarms.AUTONOMOUS ROBOTS,43(6),1505-1521. |
| MLA | Li, Guannan,et al."Decentralized progressive shape formation with robot swarms".AUTONOMOUS ROBOTS 43.6(2019):1505-1521. |
入库方式： OAI收割
来源：金属研究所
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