Swarm formation control with potential fields formed by bivariate normal functions

14th Mediterranean Conference on Control and Automation, MED'06

Volumn , Issue , 2006, Pages

  Barnes, Laura ^a   Alvis, Wendy ^c   Fields, Maryanne ^b   Valavanis, Kimon ^a   Moreno, Wilfrido ^c  

^a University of South Florida   (United States)

^b U S ARMY RESEARCH LABORATORY   (United States)

^c UNIVERSITY OF SOUTH FLORIDA   (United States)

Author keywords

Formation control; Limiting functions; Potential fields; Swarm

Indexed keywords

BIVARIATE NORMAL FUNCTIONS; CONTROL VARIABLES; FORMATION CONTROL; LIMITING FUNCTIONS; MEMBER SPACING; POTENTIAL FIELDS; SWARMS;

COLLISION AVOIDANCE; COMPUTER SIMULATION; NORMAL DISTRIBUTION; PROBABILITY DENSITY FUNCTION; ROBOTICS;

TRAFFIC CONTROL;

EID: 35948947018     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/MED.2006.328706     Document Type: Conference Paper

References (24)

1. M. Fields, "Modeling large scale troop movement using reaction diffusion equations," ARL-TR-200, U.S. Army Research Laboratory, Aberdeen Proving Ground, MD, September 1993.
2. M. Fields, "Preliminary applications of the variable resolution terrain model to a troop movement model," ARL-TR-842, U.S. Army Research Laboratory, Aberdeen Proving Ground, MD, August 1995.
3. M. Egerstedt and X. Hu. "Formation constrained multi-agent control," IEEE Transactions on Robotics and Automation, 17(6), 2001.
4. R. O. Saber, W. B. Dunbar, and R. M. Murray, "Cooperative control of multi-vehicle systems using cost graphs and optimization," in Proceedings of the American Control Conference, Vol. 3, June 2003, pp. 2217-2222.
5. S. Zilinski, T. Koo, and S. Sastry, "Optimization-based formation reconfiguration planning for autonomous vehicles," in Proceedings of IEEE International Conference on Robotics and Automation, 2003.
6. L. Chaimowicz and V. Kumar, "Coordination among UAVs and Swarm Robots," International Symposium on Distributed Autonomous Robotic Systems, 2004.
7. W. Kowalczyk. "Target assignment strategy for scattered robots building formation," in Proceedings of International Workshop on Robot Motion and Control, 2002.
8. Z. Cao, M. Tan, S. Wang, Y. Fan, and M. Zhang, "The optimization research of formation control for multiple mobile robots," in Proceedings of the World Congress on Intelligent Control and Automation, 2003.
9. J. Fredslund and M. J. Mataric, "A general algorithm for robot formations using local sensing and minimal communication," IEEE Transactions on Robotics and Automation, 18(5), 2002.
10. K. Fujibayashi, S. Murata, K. Sugawara, and M. Yamamura, "Self-organizing formation algorithm for active elements," in Proceedings of IEEE International Conference on Robotics and Automation, 2000.
11. K. Sugihara and I. Suzuki, "Distributed algorithms for formation of geometric patterns with many mobile robots," Robot Systems, 13(3), 1996.
12. H. Yamaguchi, T. Arai, and G. Beni, "A distributed control scheme for multiple robotic vehicles to make group formations," Robotics and Autonomous Systems, 36:125-147, 2001.
13. W. Kang, N. Xi, Y. Zhao, J. Tan, and Y. Wang, "Formation control of multiple autonomous vehicles: Theory and experimentation," in Proceeding,. IFAC 15th Triennial World Congress, 2002, pp. 1155-1160.
14. R. Olfati-Saber and R. Murray, "Graph rigidity and distributed formation stabilization of multi-vehicle systems," Proceedings, Conference on Decision and Control (CDC), 2002.
15. J. P. Desai, "Modeling multiple teams of mobile robots: a graph theoretic approach," in Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2001.
16. R. Fierro and A. K. Das, "A modular architecture for formation control", in International Workshop on Robot Motion and Control, 2002.
17. A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control. 48(6), June 2003.
18. T. Balch and M. Hybinette, "Social potentials for scalable multi-robot formations", Proceedings of IEEE International Conference on Robotics and Automation, 2000.
19. N. Leonard, E. Fiorelli, "Leaders, artificial potentials and coordinated control of groups," Conference on Decision and Control, Florida, 2001.
20. D. D Dudenhoeffer and M. P. Jones, "A formation behavior for large-scale micro-robot force deployment," in Simulation Conference Proceedings, 2000.
21. R. Olfati-Saber and R. Murray, "Distributed cooperative control of multiple vehicle formations using structural potential fields," IFAC World Congress, Barcelona, Spain, 2002.
22. F. E. Schneider and D. Wildermuth, "A potential field based approach to multi robot formation navigation," in Proceedings of International Conference on Robotics, Intelligent Systems and Signal Processing, October 2003.
23. J. K. Wald and C. J. Patterson, "A variable resolution terrain model for combat simulation", BRL-TR-3374, U.S. Army Ballistic Research Laboratory, Aberdeen Proving Ground, MD, October 1994.
24. L. Chaimowicz , N. Michael, and V. Kumar., "Controlling swarms of robots using interpolated implicit functions", in Proceedings of International Conference on Robotics and Automation, 2005.