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Segregation of Heterogeneous Swarms of Robots in Curves

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Author(s):
Ferreira Filho, Edson B. ; Pimenta, Luciano C. A. ; IEEE
Total Authors: 3
Document type: Journal article
Source: 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA); v. N/A, p. 7-pg., 2020-01-01.
Abstract

This paper proposes a decentralized control strategy to reach segregation in heterogeneous robot swarms distributed in curves. The approach is based on a formation control algorithm applied to each robot and a heuristics to compute the distance between the groups, i.e. the distance from the beginning of the curve. We consider that robots can communicate through a fixed underlying topology and also when they are within a certain distance. A convergence proof with a collision avoidance strategy is presented. Simulations and experimental results show that our approach allows a swarm of multiple heterogeneous robots to segregate into groups. (AU)

FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
Grantee:Marco Henrique Terra
Support Opportunities: Research Projects - Thematic Grants