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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...
A novel technique is presented for organizing swarms of robots into formation utilizing artificial potential fields generated from normal and sigmoid functions. These functions construct the surface swarm members travel on, controlling the overall swarm geometry and the individual member spacing. Limiting functions are defined to provide tighter swarm control by modifying and adjusting a set of control...
A novel method is presented for swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) that construct the surface the swarm members move upon controlling the swarm geometry and member spacing as well as manage obstacle avoidance. Limiting functions provide tighter swarm control by modifying and adjusting a set of control variables, forcing...
A novel method is presented for dynamic heterogeneous swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) used to construct the surface which swarm members move on, controlling swarm geometry, individual member spacing, and managing obstacle avoidance. Limiting functions are defined to provide tighter swarm control by modifying and adjusting...
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