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In this paper, we present a strategy for organizing swarms of unmanned vehicles into a formation by utilizing artificial potential fields that were generated from normal and sigmoid functions. These functions construct the surface on which swarm members travel, controlling the overall swarm geometry and the individual member spacing. Nonlinear limiting functions are defined to provide tighter swarm...
Unmanned ground vehicles (UGVs) have strict payload limitations, limited free space affecting power supply availability (number of batteries, size and volume) that impact onboard available energy resulting in limited endurance and operational range. This limitation is exacerbated by the addition of extra sensors and other related equipment needed for diverse applications. The ATRV-Jr UGV is considered...
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