Robotic Swarm Self-Organisation Control
2019 ◽
Vol 13
(2)
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pp. 130-134
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Abstract This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results.
2011 ◽
Vol 317-319
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pp. 1373-1384
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2014 ◽
Vol 2014
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pp. 1-13
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Keyword(s):
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2018 ◽
Vol 36
(5)
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pp. 884-889
2019 ◽
Vol 37
(2)
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pp. 273-282
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