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Final published version
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
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TY - GEN
T1 - No robot left behind
T2 - coordination to overcome local minima in swarm navigation
AU - Soriano Marcolino, Leandro
AU - Chaimowicz, Luiz
PY - 2008
Y1 - 2008
N2 - In this paper, we address navigation and coordination methods that allow swarms of robots to converge and spread along complex 2D shapes in environments containing unknown obstacles. Shapes are modeled using implicit functions and a gradient descent approach is used for controlling the swarm. To overcome local minima, that may appear in these scenarios, we use a coordination mechanism that reallocates some robots as “rescuers” and sends them to help other robots that may be trapped. Simulations and real experiments demonstrate the feasibility of the proposed approach.
AB - In this paper, we address navigation and coordination methods that allow swarms of robots to converge and spread along complex 2D shapes in environments containing unknown obstacles. Shapes are modeled using implicit functions and a gradient descent approach is used for controlling the swarm. To overcome local minima, that may appear in these scenarios, we use a coordination mechanism that reallocates some robots as “rescuers” and sends them to help other robots that may be trapped. Simulations and real experiments demonstrate the feasibility of the proposed approach.
U2 - 10.1109/ROBOT.2008.4543485
DO - 10.1109/ROBOT.2008.4543485
M3 - Conference contribution/Paper
SN - 9781424416462
T3 - Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
SP - 1904
EP - 1909
BT - Proceedings of the 2008 IEEE International Conference on Robotics and Automation
CY - Pasadena, California
ER -