Robert J. Mullen
Reactive coordination and adaptive lattice formation in mobile robotic surveillance swarms
Mullen, Robert J.; Mullen, Robert; Monekosso, Dorothy; Barman, Sarah; Remagnino, Paolo
Authors
Robert Mullen
Dorothy Monekosso
Sarah Barman
Paolo Remagnino
Contributors
Alcherio Martinoli
Editor
Francesco Mondada
Editor
Nikolaus Correll
Editor
Gr�gory Mermoud
Editor
Magnus Egerstedt
Editor
M. Ani Hsieh
Editor
Lynne E. Parker
Editor
Kasper St�y
Editor
Abstract
We present here a set of decentralised control laws to facilitate lattice formation and reactive coordination and control of a swarm of mobile ground based robots. The control laws rely on local, indirect communication, which we implement in the form of virtual forces governed by physics based laws, computed from range and bearing measurements relative to the individual robots. Furthermore, we introduce the Virtual Robot Node (VRN) architecture to extend the capabilities of the cooperative formation control in terms of lattice cohesion and reactive dynamic abilities. The characteristics of the control laws are analysed through a number of 3D physics-based simulation experiments. We show that the basic proposed methods exhibit robustness to simulated sensor noise. We further show a number of improvements made by employing the VRN architecture, in terms of reducing errors in specified formation constraints, and additional dynamic capabilities. © 2013 Springer-Verlag.
Presentation Conference Type | Conference Paper (published) |
---|---|
Publication Date | Dec 13, 2012 |
Journal | Springer Tracts in Advanced Robotics |
Electronic ISSN | 1610-742X |
Peer Reviewed | Not Peer Reviewed |
Volume | 83 STAR |
Pages | 229-242 |
Book Title | Distributed Autonomous Robotic Systems |
ISBN | 9783642327223 |
DOI | https://doi.org/10.1007/978-3-642-32723-0_17 |
Keywords | reactive coordination, adaptive lattice formation, mobile robotic surveillance swarms |
Public URL | https://uwe-repository.worktribe.com/output/935818 |
Publisher URL | http://dx.doi.org/10.1007/978-3-642-32723-0_17 |
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