Spatial segregative behaviors in robotic swarms using differential potentials

Santos, Vinicius Graciano; Pires, Anderson Grandi; Alitappeh, Reza Javanmard; Rezeck, Paulo; Pimenta, Luciano C. A.; Macharet, Douglas G.; Chaimowicz, Luiz

doi:10.1007/s11721-020-00184-0

Cited by 8 publications

(2 citation statements)

References 43 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where α, β ∈ R + are some control parameters, and d A ij > 0 determines the desired distance between agents. The function ( 12) is based on the potential function proposed in [41], with the addition of a parameter β that allows for varying the size of the region where the function is strictly convex. Thus, under the influence of this force, the agents of one cluster tend to form a formation, which in the case of the minimum required number of agents has the form of a regular triangle with faces of length d A ij .…”

Section: Control Strategymentioning

confidence: 99%

Bioinspired Multipurpose Approach to the Sampling Problem

Tolstikhin

2023

Computation

View full text Add to dashboard Cite

Currently, the sampling problem has gained wide popularity in the field of autonomous mobile agent control due to the wide range of practical and fundamental problems described with its framework. This paper considers a combined decentralized control strategy that incorporates both elements of biologically inspired and gradient-based approaches. Its key feature is multitasking, consisting in the possibility of solving several tasks in parallel included in the sampling problem: localization and monitoring of several sources and restoration of the given level line boundaries.

show abstract

Section: Control Strategymentioning

confidence: 99%

Bioinspired Multipurpose Approach to the Sampling Problem

Tolstikhin

2023

Computation

View full text Add to dashboard Cite

show abstract

“…This phenomenon, called differential adhesion hypothesis (DAH), has been investigated for almost a century in developmental biology [24][25][26][27] . DAH principle has inspired algorithms for controlling robot swarms 28,29 . These algorithms applied arti cial potential elds to robot swarms and required intensive computation.…”

Section: Introductionmentioning

confidence: 99%

Applying intrinsic principle of cell collectives to program robot swarms

Yang,

Pan,

Liu

et al. 2023

Preprint

View full text Add to dashboard Cite

Many control algorithms for formation of robot swarms are often inspired from animal swarms. However, these algorithms are derived by simply imitating the behaviors of animal swarms instead of directly applying intrinsic principles because of the capability gaps between animals and robots. Here we experimentally proved that the principle of differential adhesion hypothesis in cell biology can be directly applied to the formation of robot swarms. Like cell collectives, swarms of sensor-less robots aggregated and sorted in a self-organized manner. Based on this finding, we programmed robot swarms to form functional morphologies via tuning their adhesion. This work advances swarm robotics in forming functional morphologies and enables us to quantitatively investigate morphogenesis in cell collectives using robot swarms.

show abstract