Decentralized progressive shape formation with robot swarms
Li, Guannan1,2,6; St-Onge, David6; Pinciroli, Carlo3; Gasparri, Andrea4; Garone, Emanuele5; Beltrame, Giovanni6
Corresponding AuthorLi, Guannan(
AbstractWe address the problem of progressively deploying a set of robots to a formation defined as a point cloud, in a decentralized manner. To achieve this, we present an algorithm that transforms a given point cloud into an acyclic directed graph. This graph is used by the control law to allow a swarm of robots to progressively form the target shape based only on local decisions. This means that free robots (i.e., not yet part of the formation) find their location based on the perceived location of the robots already in the formation. We prove that for a 2D shape it is sufficient for a free robot to compute its distance from two robots in the formation to achieve this objective. We validate our method using physics-based simulations and robotic experiments, showing consistent convergence and minimal formation placement error.
KeywordSwarm robotics Pattern formation Progressive deployment Buzz
Funding OrganizationNSERC Strategic Partnership Grant ; China Scholarship Council ; NSERC Research Tools and Infrastructure
Indexed BySCI
Funding ProjectNSERC Strategic Partnership Grant[479149-2015] ; China Scholarship Council ; NSERC Research Tools and Infrastructure[2016-00599]
WOS Research AreaComputer Science ; Robotics
WOS SubjectComputer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000474366100013
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Cited Times:13[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorLi, Guannan
Affiliation1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, 114 Nanta St, Shenyang, Liaoning, Peoples R China
2.Univ Chinese Acad Sci, 19 A Yuquan Rd, Beijing, Peoples R China
3.Worcester Polytech Inst, 100 Inst Rd, Worcester, MA 01609 USA
4.Univ Roma Tre, Dept Engn, Via Vasca Navale 79, I-00146 Rome, Italy
5.Univ Libre Bruxelles, 50 Ave FD Roosevelt, B-1050 Brussels, Belgium
6.Polytech Montreal, 2500 Chemin Polytech, Montreal, PQ, Canada
Recommended Citation
GB/T 7714
Li, Guannan,St-Onge, David,Pinciroli, Carlo,et al. Decentralized progressive shape formation with robot swarms[J]. AUTONOMOUS ROBOTS,2019,43(6):1505-1521.
APA Li, Guannan,St-Onge, David,Pinciroli, Carlo,Gasparri, Andrea,Garone, Emanuele,&Beltrame, Giovanni.(2019).Decentralized progressive shape formation with robot swarms.AUTONOMOUS ROBOTS,43(6),1505-1521.
MLA Li, Guannan,et al."Decentralized progressive shape formation with robot swarms".AUTONOMOUS ROBOTS 43.6(2019):1505-1521.
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