Abstract
A decentralized control method, namely Regular Tetrahedron Formation (RTF), is presented for a swarm of simple robots operating in three-dimensional space. It is based on virtual spring mechanism and enables four neighboring robots to autonomously form a Regular Tetrahedron (RT) regardless of their initial positions. RTF method is applied to various sizes of swarms through a dynamic neighbor selection procedure. Each robot’s behavior depends only on position of three dynamically selected neighbors. An obstacle avoidance model is also introduced. Final, algorithm is studied with computational experiments which demonstrated that it is effective.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chaimowicz, L., Cowley, A., Gomez-Ibanez, D., Grocholsky, B., Hsieh, M.A., et al.: Deploying air-ground multi-robot teams in urban environments. In: Multi-Robot Systems. From Swarms to Intelligent Automata, pp. 223–234 (2005)
Kalantar, S., Zimmer, U.: Distributed shape control of homogenous swarms of autonomous underwater vehicles. J. Autonomous Robots 22, 37–53 (2007)
Turgut, A.E., Çelikkanat, H., Gökçe, F., Şahin, E.: Self-organized flocking with a mobile robot swarm. Technical Report METU-CENG-TR-2008-01, Middle East Technical University (January 2008)
Kim, D.H., Wang, H., Shin, S.: Decentralized control of autonomous swarm systems using artificial potential function-analytical design guidelines. J. Intel. Robot Syst. 45, 369–394 (2006)
Olfati-Saber, R.: Flocking for multi-agent dynamic systems: algorithm and theory. IEEE Transactions on automatic control 51, 401–420 (2006)
Shucker, B., Bennett, J.K.: Scalable control of distributed robotic macro sensors. In: Proc. of the7th international symposium on distributed autonomous robotic systems, DARS 2004 (2004)
Shucker, B., Murphey, T., Bennett, J.K.: A method of cooperative control using occasional non-local interactions. In: Proc. of IEEE Conference on Robotics and Automation (ICRA), Orlando, Florida (May 2006)
Shucker, B., Murphey, T., Bennett, J.K.: An approach to switching control beyond nearest neighbor rules. In: Proc. of American Control Conference (ACC) (June 2006)
Klein, J.: Breve: a 3D simulation environment for the simulation of decentralized systems and artificial life. In: Proc. of Artificial Life VIII, the 8th International Conference on the Simulation and Synthesis of Living Systems (2002)
Duro, R.J., Graña, M., de Lope, J.: On the potential contributions of hybrid intelligent approaches to multicomponent robotic system development. Information Sciences (2010) (in press)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ercan, M.F., Li, X., Liang, X. (2010). A Regular Tetrahedron Formation Strategy for Swarm Robots in Three-Dimensional Environment. In: Graña Romay, M., Corchado, E., Garcia Sebastian, M.T. (eds) Hybrid Artificial Intelligence Systems. HAIS 2010. Lecture Notes in Computer Science(), vol 6076. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13769-3_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-13769-3_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13768-6
Online ISBN: 978-3-642-13769-3
eBook Packages: Computer ScienceComputer Science (R0)