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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/7793

Title: Adaptive Flocking of a Swarm of Robots Based on Local Interactions
Authors: Hanada, Y.
Lee, Geunho
Chong, Nak Young
Issue Date: 2007-04
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE Swarm Intelligence Symposium, 2007. SIS 2007.
Start page: 340
End page: 347
DOI: 10.1109/SIS.2007.367957
Abstract: This paper presents a novel flocking strategy for a large-scale swarm of robots that enables the robots to navigate autonomously in an environment populated with obstacles. Robot swarms are often required to move toward a goal while adapting to changes in environmental conditions in many applications. Based on the observation of the swimming behavior of a school of tunas, we apply their unique patterns of behavior to the autonomous adaptation of the shape of robot swarms. Specifically, each robot dynamically selects two neighboring robots within its sensing range and maintains a uniform distance with them. This enables three neighboring robots to form a regular triangle and remain stable in the presence of obstacles. Therefore, the swarm can be split into multiple groups or re-united into one according to environmental conditions. More specifically, assuming that robots are not allowed to have individual identification numbers, a pre-determined leader, memories of previous perceptions and actions, and direct communications to each other, we verify the validity of the proposed algorithm using the in-house simulator. The results show that a swarm of robots repeats the process of partition and maintenance passing through multiple narrow passageways
Rights: Copyright (C) 2007 IEEE. Reprinted from IEEE Swarm Intelligence Symposium, 2007. SIS 2007. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
URI: http://hdl.handle.net/10119/7793
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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