Frequency response of swarm deformation with control barrier function

Abstract

In this study, we focused on robotic swarms, allowing multiple anonymous autonomous robots to gather and move mutually in tasks. We proposed a method to design a parameter of the control barrier function (CBF) in a robotic swarm so that the swarm can achieve collision-free deformation considering the environmental conditions. We analyzed the responses to perturbations of swarming robots, to which we applied the CBF. Although we can guarantee a safe distance between mobile robots, the CBF limits their actions and prevents swarm deformation. Through analysis of the frequency domain, we investigated the effects of a selected parameter in the CBF on the deformability of a swarm. We obtained an appropriate range of parameters that realize both distance maintenance and deformability retention.

Advancing Offshore Oil and Gas Facilities: A Comprehensive Review of Innovative Maintenance Strategies for Enhanced Reliability and Efficiency

“…Swarm Robotics: Swarm robotics involves the coordination of multiple robots working collaboratively to accomplish maintenance tasks. In the offshore industry, swarm robots can be deployed for large-scale inspections, such as examining extensive pipeline networks or conducting environmental surveys (Origane et al, 2022). 3.…”