Pattern Generation with Multiple Robots

We develop decentralized controllers for a swarm of robots to generate a desired two-dimensional geometric pattern specified by a smooth function while maintaining specified relative distance constraints. The controllers are decentralized in the sense that the robots do not exchange or sense each other's state information. However, we assume that the robots have range sensors allowing them to obtain information about distances to neighbors within a known range. We establish stability and convergence properties of the controllers

Authors

• M. Ani Hsieh
• Vijay Kumar 0001

Keywords

• Robot kinematics
• Robot sensing systems
• Communication system control
• Convergence
• Shape control
• Stability
• Biology computing
• Surveillance
• Topology
• Sensor phenomena and characterization
• Pattern Generator
• Geometric Patterns
• Decentralized Control
• Swarm Robotics
• Two-dimensional Patterns
• Field Of View
• Control Input
• Second Derivative
• Equilibrium Point
• Shape Functions
• Interaction Forces
• Attractive Forces
• Directions For Future Work
• Set Of Assumptions
• Implicit Function
• Star-shaped
• Convex Shape
• Convergence Of System
• Smooth Shape
• Robotic Group
• Individual Robots
• Plane Curve