Decentralized Radial Segregation in Heterogeneous Swarms of Robots

Author(s)

Ferreira Filho, Edson B. ; Pimenta, Luciano C. A. ; IEEE

• Document type: Journal article
• Source: 2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC); v. N/A, p. 6-pg., 2019-01-01.

Abstract

This article proposes a decentralized control strategy to reach radial segregation in heterogeneous robot swarms. The approach is based on a consensus algorithm applied to virtual points attached to each robot and a heuristics to compute the distance between the robots and the virtual point. Two scenarios are considered: when robots have access to a global reference point and when robots can communicate through a fixed underlying topology. A convergence proof is presented. Simulations and experimental results show that our approach allows a swarm of multiple heterogeneous robots to segregate radially using local information. (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