Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/33237
Title: A triangular formation strategy for collective behaviors of robot swarm
Authors: Li, X
Ercan, MF
Fung, YF
Keywords: Distributed control
Swarm intelligence
Swarm robotics
Issue Date: 2009
Publisher: Springer
Source: Lecture notes in computer science (including subseries Lecture notes in artificial intelligence and lecture notes in bioinformatics), 2009, v. 5592 lncs, no. part 1, p. 897-911 How to cite?
Journal: Lecture notes in computer science (including subseries Lecture notes in artificial intelligence and lecture notes in bioinformatics) 
Abstract: This paper presents, a novel decentralized control strategy, named Triangular Formation Algorithm (TFA), for a swarm of simple robots. The TFA is a local interaction strategy which basically makes three neighboring robots to form a regular triangular lattice. This strategy requires minimal conditions for robots and it can be easily realized with real robots. The TFA is executed by every member of the swarm asynchronously. For swarm obstacle avoidance, a simplified artificial physical model is introduced to work with the TFA. Simulation results showed that the global behaviors of swarm such as aggregation, flocking and obstacle avoidance in an unknown environment can be achieved using the TFA and obstacle avoidance mechanism.
Description: International Conference on Computational Science and Its Applications, ICCSA 2009, Seoul, 29 July-2 August 2001
URI: http://hdl.handle.net/10397/33237
ISBN: 364202453X
9783642024535
ISSN: 0302-9743
EISSN: 1611-3349
DOI: 10.1007/978-3-642-02454-2_70
Appears in Collections:Conference Paper

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