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Leader-following formation is one of the common used formation strategies, but when using this method, behavior of the leader will certainly influence behavior of other team members. In obstacle environment, a fixed leader may experience maneuver and this will destroy formation shape and increase energy consumption while not necessary. In this paper, some evaluation factors are discussed to judge...
This paper presents a new interactive force in shape control to deal with group fragmentation during movement toward a desired shape. The proposed interactive force can maintain minimum distance between agents as well as group unity. Unlike other collective potential functions which have only one local minima, the proposed one has a local minima area which increase the flexibility of group during...
We deal with self-adaptive systems where each local entity has autonomy in the way of strong coactivity with others entities to make the emergence of a coherent general state of the complete system. The paper focus on the architecture of a self adaptive system based on massive multi agent systems. The system allows the monitoring and on-line restructuring thanks to ontology. It is dedicated to a complex...
This paper proposed a limit-cycle based algorithm for cooperative hunting task using multiple mobile robots. By integrating the model-based system and the behavior-based system, a hybrid distributed control system is established, which emphasizes on the autonomy and intelligence of each robot. On the one hand, the algorithm uses artificial potential field for multi-robot formation. On the other hand,...
Simulation of crowd motions has great potential in many applications in robotics, games and animations. However, it is also a great challenge to be able to control the motion of a virtual crowd according to the intents of its designer such as making the crowd conform to a specific shape while avoiding collisions with other agents in the crowd or with obstacles. In this paper, we propose a simulation...
This paper reports an autonomous cooperative navigation system for robot formations in realistic scenarios. The formation movement control is based on a virtual structure composed by spring-dampers elements, which allows the formation to comply with the environment shape. A different navigation strategy is applied to the leader of the formation and to the rest of robots of the team. The leader plans...
This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization...
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