Paper Info
Title
Validation of swarms of robots: theory and experimental results
Abstract
In this paper we present a formulation of a swarm algorithm for some predefined formations and we show that using the control laws derived, the whole system is stable. Furthermore, the algorithm for the formation is implemented in microcontrollers, which effectively makes the experiment a system of systems. The only input for the algorithm is the position of the robot and the relative positions of neighbours within two metres of the robot. The results of experiments presented show that the algorithm presents the same general behaviour as predicted in simulations. However, due to noise in measurements and commands, the behaviour is slightly different.
Year
DOI
Venue
2012
10.1109/SYSoSE.2012.6384202
System of Systems Engineering
Keywords
Field
DocType
autonomous aerial vehicles,microcontrollers,mobile robots,multi-robot systems,path planning,stability,systems engineering,control laws,measurement noise,microcontrollers,robot position,robot swarm validation,swarm algorithm formulation,system of systems,system stability,UAV,autonomous systems,distributed algorithm,experimental validation,flocking,formation,swarm
Motion planning,Flocking (texture),Swarm behaviour,Control theory,System of systems,Robot kinematics,Control engineering,Distributed algorithm,Engineering,Robot,Mobile robot
Conference
ISBN
Citations 
PageRank 
978-1-4673-2974-3
0
0.34
References 
Authors
1
6
Name
Order
Citations
PageRank
Luis Mendez100.34
Sidney Nascimento Givigi26412.40
Howard M. Schwartz313520.29
Alain Beaulieu4407.78
Gerard Pieris551.34
Giovanni Fusina6252.09