Control of swarms based on Hydrodynamic models

We address the problem of pattern generation in obstacle-filled environments by a swarm of mobile robots. Decentralized controllers are devised by using the Smoothed Particle Hydrodynamics (SPH) method. The swarm is modelled as an incompressible fluid subjected to external forces. Actual robot issue...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 1948 - 1953
Main Authors Pimenta, K.L.C., Michael, N., Mesquita, R.C., Pereira, G.A.S., Kumar, V.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Automatic generation control
Convergence
Fluid dynamics
Fluid flow control
Hydrodynamics
Lagrangian functions
Robot control
Robotics and automation
Shape control
Stability
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543492

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Summary:We address the problem of pattern generation in obstacle-filled environments by a swarm of mobile robots. Decentralized controllers are devised by using the Smoothed Particle Hydrodynamics (SPH) method. The swarm is modelled as an incompressible fluid subjected to external forces. Actual robot issues such as finite size and nonholonomic constraints are also addressed. Collision avoidance guarantees are discussed. Finally, in the absence of obstacles, we prove for the first time stability and convergence of controllers based on the SPH.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543492