1. Toward Emerging Cubic-Spline Patterns With a Mobile Robotics Swarm System
- Author
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Foudil Cherif, Ying Sun, Fouzi Harrou, and Belkacem Khaldi
- Subjects
Flexibility (engineering) ,0209 industrial biotechnology ,business.industry ,Computer science ,Real-time computing ,Swarm robotics ,Swarm behaviour ,Mobile robot ,Robotics ,02 engineering and technology ,Computer Science::Robotics ,020901 industrial engineering & automation ,Artificial Intelligence ,Obstacle ,0202 electrical engineering, electronic engineering, information engineering ,Robot ,020201 artificial intelligence & image processing ,Artificial intelligence ,business ,Software ,Collision avoidance - Abstract
An innovative and flexible approach is introduced to address the challenge of self-organizing a group of mobile robots into cubic-spline based patterns without any requirement of control points. Besides the self-organization of mobile robots, the approach incorporates a potential field-based control for obstacle/collision avoidance. This will offer more flexibility to swarm robots to efficiently dealing with many practical situations including smoothly avoiding obstacles during movement, or exploring and covering areas with complex curved patterns. Essentially, this challenge is approached by proposing a formation control model basing on a Smoothed Particle Hydrodynamic estimation technique, which uses special cubic-spline kernel functions applied here to interpolate the density of each robot in the swarm. The moving information is used to weight the distances to the robot’s neighbours available in its field of view. Then an artificial physics mesh is finally built among each robot and its three available neighbours having the smallest weighted distances. Significant results toward emerging cubic-spline patterns are shown with a swarm of foot-bot mobile robots simulated in the ARGoS platform. Analysis results with different metrics are also conducted to assess the performance of the model with different swarm sizes and in the presence of sensory noise as well in the presence of partially faulty robots.
- Published
- 2022