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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...
Inspired by the recent “Robot Sheepdog Project” in the literature, in this paper a new method for coordination of multi-agent systems moving in a 2-dimensional region with the obstacles along a collision free trajectory is presented. A two level decentralized control scheme is proposed. At lower level, for the agents within the formation, “the sheep”, the only concern is to keep that of their formation...
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