Behavior-based formation control of swarm robots
Summary: Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments.
- Region-based shape control for a swarm of robots
- Distributed formation for robotic swarms considering their crossing motion
- Adaptive-neural-network-based shape control for a swarm of robots
- Multi-objective region reaching control for a swarm of robots
- Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following
- Multilevel-based topology design and shape control of robot swarms
- Interaction of robot swarms using the honeybee-inspired control algorithm BEECLUST
- Robot formation algorithm with limited communication
- Autonomous hunting algorithm for swarm robots subject to limited sensing range
- Sound-based collaborative direction estimation for swarm robotic systems
- Cooperative control of multiple swarms of mobile robots with communication constraints
- Multi-group coordination control for robot swarms
- A swarm of robots using RFID tags for synchronization and cooperation
- Research development of multi-robot formation control
- Navigation of carlike robots in an extended dynamic environment with swarm avoidance
- Fast moving of a population of robots through a complex scenario
- Cooperative control and communication of intelligent swarms: a survey
- A hierarchical formation control algorithm of large-scale robot swarm
- Nonholonomic mobile swarm robots hunting in unknown dynamic environments
- Tilt: the video -- designing worlds to control robot swarms with only global signals
- Multi-robot learning using a PSO combined with CBR algorithm
- Vector based Control Routines for Swarms of Path Finding Robotic Devices
- Swarm control for large-scale omnidirectional mobile robots within incremental behavior
- Decentralized navigation method for swarm robots with individual loss due to failure
- Formation control of a swarm of mobile manipulators
- Consensus control of multi-agent systems with switched linear dynamics
- Distributed nonlinear algorithms for building chain formations by fully homogeneous multi-agent teams, with establishing informational connectivity
- Artificial moment method for swarm robot formation control
- A common coordinates/heading direction generation method for a robot swarm with only RSSI-based ranging
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