Xiaokang Lei Likes:

Affiliation of Author(s):

信息与控制工程学院

Journal:

COMPLEX&INTELLIGENT SYSTEMS

Key Words:

Swarm robots · Distributed robot systems · Multi-target trapping · Self-organized trapping · Density-based interaction

Abstract:

The task of multi-target trapping in swarm robots can often be solved by global shape planning and target assignment, but it still remains a challenge to achieve fully self-organized multi-target trapping behavior based on local information. In this paper, inspired by the concept of spatial density in physics and biology, we proposed a novel density-based method to enable the swarm robots to entrap multiple targets with either single-ring, multi-ring or multi-subgroup formation in a distributed and self-organized way while neither communication among robots nor encirclement function is required. Each robot’s local spatial density is considered as the main clue for the individual’s motion decision-making and the enclosed configurations emerge from such individual-level interactions rather than being explicitly designed. Numerical simulations and real robotic experiments are conducted to validate the effectiveness of the proposed method. The results show that the proposed selforganized trapping method allows a swarm of robots to entrap multiple moving targets in a stable, flexible, noise-tolerate and size-scalable fashion.

Co-author:

张帅

First Author:

Xiaokang Lei

Indexed by:

Journal paper

Correspondence Author:

向雅伦,段梦园

ISSN No.:

2199-4536

Translation or Not:

no

Date of Publication:

2023-03-08