TY - GEN
T1 - Decentralized lattice formation control for micro robotic swarms
AU - Lionis, Grigoris
AU - Kyriakopoulos, Kostas J.
PY - 2009/12/11
Y1 - 2009/12/11
N2 - In this paper we discuss an algorithm for distributed formation of a lattice structures using a team of mobile robots. Lattice structures can be used for solving task allocation problems, as well as for utilizing cooperative swarm like motion for the agents. We are specifically dealing with the problem of constructing a lattice decentralized with the agents having only a limited sensing radius and a possibly imperfect communication channel that make "agree and go" methods unsuitable for solving the problem. The proposed algorithm is based on reducing the 2D problem to an 1D problem, i.e. moving on a curve that connects all the lattice points without intersecting itself. The algorithm is decentralized and is exact in the sense that all agents will converge to the lattice structure.
AB - In this paper we discuss an algorithm for distributed formation of a lattice structures using a team of mobile robots. Lattice structures can be used for solving task allocation problems, as well as for utilizing cooperative swarm like motion for the agents. We are specifically dealing with the problem of constructing a lattice decentralized with the agents having only a limited sensing radius and a possibly imperfect communication channel that make "agree and go" methods unsuitable for solving the problem. The proposed algorithm is based on reducing the 2D problem to an 1D problem, i.e. moving on a curve that connects all the lattice points without intersecting itself. The algorithm is decentralized and is exact in the sense that all agents will converge to the lattice structure.
UR - http://www.scopus.com/inward/record.url?scp=76249101301&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2009.5354453
DO - 10.1109/IROS.2009.5354453
M3 - Conference contribution
AN - SCOPUS:76249101301
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 3756
EP - 3761
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -