Constant Bearing Flocking

Cristino de Souza Junior, Tiziano Manoni, Eliseo Ferrante

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present “bearing-and-range-only” approach for a self-organized flocking, which allows the flocking alignment without the assumption of measuring agent’s velocity or orientation. This last assumption challenges the implementation with real robot, since common off-the-shelf sensors do not provide such information unless inter-agent communication is used. To overcome the above issue, we propose a flocking behavior based on the “constant bearing rule”, which is known geometrical concept commonly used for missile guidance. The proposed behavior is described by a steering law and a velocity law. In the first one, the agent tries to keep constant bearing towards the target (if informed), or towards the center of mass of the perceived neighbors (if not informed). The second law allows the agent to regulate its linear velocity to keep a minimal safety distance towards the closest agent. Together, the two laws combined realize alignment. We perform simulation experiments to evaluate the new method and we compare the results with a “range-and-bearing” state of the art method.

Original languageEnglish (US)
Title of host publicationSwarm Intelligence - 13th International Conference, ANTS 2022, Proceedings
EditorsMarco Dorigo, Volker Strobel, Christian Camacho-Villalón, Heiko Hamann, Heiko Hamann, Manuel López-Ibáñez, José García-Nieto, Andries Engelbrecht, Carlo Pinciroli
PublisherSpringer Science and Business Media Deutschland GmbH
Pages300-307
Number of pages8
ISBN (Print)9783031201752
DOIs
StatePublished - 2022
Event13th International Conference on Swarm Intelligence, ANTS 2022 - Malaga, Spain
Duration: Nov 2 2022Nov 4 2022

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13491 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference13th International Conference on Swarm Intelligence, ANTS 2022
Country/TerritorySpain
CityMalaga
Period11/2/2211/4/22

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science

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