| Full text | |
| 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 |