Decentralized Swarm Aggregation with Static Communication Links

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

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

Abstract

The objective of this paper is decentralized swarm aggregation with collision avoidance. Specifically, each agent is assigned with a control law which is the sum of two elements: a repulsive potential field, which is responsible for the collision avoidance objective, and an attractive potential field, that forces the agents to converge to a configuration where they are close to each other. It is shown that under the proposed control law agents converge to a configuration where each agent is located at a bounded distance from each of its neighbors. Connectivity of the communication graph is then shown to be a sufficient condition for swarm aggregation. When a global objective is imposed, namely aggregation of the robotic swarm close to a desired location we show that only one agent, which plays the role of the leader of the swarm, has to be aware of this objective. The leader is shown to be able to drag the swarm around the desired location. We also show that these results are applied to both cases of robots satisfying single integrator kinematics and kinematic unicycle-type robots.

Original languageEnglish (US)
Title of host publicationProceedings of the 1st International Conference on Robot Communication and Coordination, RoboComm 2007
PublisherAssociation for Computing Machinery
ISBN (Electronic)9789639799080
DOIs
StatePublished - 2007
Event1st International Conference on Robot Communication and Coordination, RoboComm 2007 - Athens, Greece
Duration: Oct 15 2007Oct 17 2007

Publication series

NameACM International Conference Proceeding Series

Conference

Conference1st International Conference on Robot Communication and Coordination, RoboComm 2007
Country/TerritoryGreece
CityAthens
Period10/15/0710/17/07

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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