Self-organized muti-target trapping of swarm robots with density-based intercation
发布时间：2024-08-09
点击次数：
- 所属单位：
- 信息与控制工程学院
- 发表刊物：
- COMPLEX&INTELLIGENT SYSTEMS
- 关键字：
- Swarm robots · Distributed robot systems · Multi-target trapping · Self-organized trapping · Density-based interaction
- 摘要：
- 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.
- 合写作者：
- 张帅
- 第一作者：
- 雷小康
- 论文类型：
- 期刊论文
- 通讯作者：
- 向雅伦,段梦园
- ISSN号：
- 2199-4536
- 是否译文：
- 否
- 发表时间：
- 2023-03-08