Paper Info
Title
A general framework integrating exploration, self-assembly and locomotion control for swarm robots
Abstract
In this paper, we proposed a general control framework for the swarm robots with self-assembly in real environments. There are three tasks: exploration task, self-assembly task and locomotion task. At the start, the swarm robots explore the environment using their sensors and make decision to form some robotic structures to finish the task. Then the swarm robots execute the self-assembly task to construct the corresponding configuration. For the locomotion, a unified CPG controller model as well as unity configuration representation is combined to generate locomotive motions for robotic structure and improve self-adaptation according to any configuration. Based on Sambot simulation platform, we demonstrate simulation experiments that the swarm robots form different robotic structures to adapt to the different environments. Finally, the effectiveness and scalability of the framework are discussed.
Year
DOI
Venue
2011
10.1109/ROBIO.2011.6181397
ROBIO
Keywords
Field
DocType
self-adjusting systems,exploration task,motion control,robotic structures,swarm robots,locomotion task,real environments,locomotive motions,legged locomotion,multi-robot systems,locomotion control,unified cpg controller model,unity configuration representation,self-adaptation,general framework integrating exploration,self-assembly task,sambot simulation platform,self assembly,infrared,swarm robotics,robot kinematics,simulation experiment
Motion control,Control theory,Ant robotics,Robot kinematics,Control engineering,Engineering,Scalability,Swarm robotics
Conference
Volume
Issue
ISBN
null
null
978-1-4577-2136-6
Citations 
PageRank 
References 
2
0.37
6
Authors
4
Name
Order
Citations
PageRank
Hongxing Wei110122.41
Haiyuan Li2142.36
Youdong Chen3204.67
Jindong Tan468777.41