Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/70102
Title: Decentralized control for swarm flocking in 3D space
Authors: Li, X
Ercan, MF
Fung, YF
Keywords: Swarm robotics
Swarm intelligence
Distributed control
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. 5928, p. 744-754 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 decentralized control strategy for a robot swarm where each robot tries to form a regular tetrahedron with its three neighbors. The proposed method is based on virtual spring. Robots can form regular tetrahedron regardless of their initial positions and they require minimum amount of information about their neighbors. The control strategy is made scalable by integrating a neighbor selection procedure so that it can be expanded to large swarms easily. In addition, an obstacle avoidance mechanism, based on artificial physics, is also introduced. By utilizing this control strategy, basic swarm behaviors such as aggregation, flocking and obstacle avoidance are demonstrated through simulations in an unknown three dimensional environment.
Description: Second International Conference on Intelligent Robotics and Applications, Singapore, 16-18 December 2009
URI: http://hdl.handle.net/10397/70102
ISBN: 978-3-642-10816-7
978-3-642-10817-4
ISSN: 0302-9743
EISSN: 1611-3349
DOI: 10.1007/978-3-642-10817-4_74
Appears in Collections:Conference Paper

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