Segregation of Heterogeneous Swarms of Robots in Curves

Autor(es)

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

• Tipo de documento: Artigo Científico
• Fonte: 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA); v. N/A, p. 7-pg., 2020-01-01.

Resumo

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)

• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático