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In the existing literatures of multirobots, it is usually assumed that the networked robots remain connected in topology during the task execution. In practice, however, it is not easy to guarantee connectivity of the networked robots in a clustered environment. Failure to maintain connectivity may decrease the performance of the networked robots or even fail the task. In this paper, we propose a...
In this paper, we propose an effective control algorithm based on potential functions for a group of agents to achieve flocking and obstacle avoidance. The physical sizes of agents are considered. Taking the different purposes into consideration, two kinds of potential functions are presented with considering the physical radius of agent, and the distributed control law of dynamic system is designed...
This paper presents a decentralized control algorithm for swarm of robots based on geometric approach. Our objective is to build a swarm that can demonstrate collective behavior. The control algorithm, which is executed by all the members of the swarm, is presented in details. Our simulation results show that group behaviors such as aggregation, obstacle avoidance and flocking are achieved successfully.
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