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Decentralized control in robotic swarms

Decentralized control in robotic swarms

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Robotic swarms are groups of autonomous and self-organized mobile robots interacting under a communication network in order to accomplish cooperative tasks. This chapter will provide an overview on main outcomes on decentralized control in robotic swarms based on applications and the degree of autonomy in the view of stability and control theory. Based on application, we will categorize various problems in the area of robotic swarms such as swarming, formation, and consensus/rendezvous. First path planning and collision avoidance approaches for mobile robots will be introduced. Then, swarming and swarm formation of mobile robots as most important problems in control of multirobot systems will be investigated. Finally, the consensus and rendezvous as important problems in multirobot systems will be studied. In each category, existing structures will be classified and explained.

Chapter Contents:

  • Abstract
  • 17.1 Introduction to decentralized control in robotic swarms
  • 17.2 Related problems
  • 17.3 Preliminaries
  • 17.3.1 Notations
  • 17.3.2 Graph theory
  • 17.4 Robots path planning
  • 17.4.1 Vector field
  • 17.4.2 Local minima problems
  • 17.4.3 Avoiding moving obstacles
  • 17.4.4 Obstacle avoidance in swarming robots
  • 17.5 Swarming
  • 17.5.1 Attraction/repulsion functions for swarm aggregation
  • 17.5.2 Lattice-type swarm of mobile robots with limited sensing
  • 17.6 Swarm formation
  • 17.6.1 Leader–follower architecture
  • 17.6.2 Leaderless architecture
  • 17.7 Rendezvous
  • 17.7.1 Consensus-based rendezvous
  • 17.7.2 Rendezvous with connectivity maintenance
  • 17.7.3 Rendezvous in the presence of nonholonomic constraints
  • 17.8 Discussion
  • References

Inspec keywords: mobile robots; decentralised control; collision avoidance; multi-robot systems

Other keywords: control theory; path planning; communication network; decentralized control; stability; autonomous self-organized mobile robots; swarming formation; collision avoidance approaches; multirobot systems; robotic swarms

Subjects: Spatial variables control; Multivariable control systems; Mobile robots

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