Swarm Robotics Foraging Approaches

Efremov, Mikhail A.; Kholod, Ivan

doi:10.1109/eiconrus49466.2020.9039340

Cited by 7 publications

(1 citation statement)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Each robot has a low ability; they only know their position and can communicate with neighboring robots in a small local area. Note that direct communication has the advantages of portability and has a lower cost than stigmergy [58]. After giving the user-specified shape, robots will assemble into this formation by interacting with neighbors without relying on external control and global information.…”

Section: The Distributed Self-assembly Formation Strategy For Swarm R...mentioning

confidence: 99%

Crystallization-Inspired Design and Modeling of Self-Assembly Lattice-Formation Swarm Robotics

Pan,

Wen,

Yin

et al. 2024

Sensors

View full text Add to dashboard Cite

Self-assembly formation is a key research topic for realizing practical applications in swarm robotics. Due to its inherent complexity, designing high-performance self-assembly formation strategies and proposing corresponding macroscopic models remain formidable challenges and present an open research frontier. Taking inspiration from crystallization, this paper introduces a distributed self-assembly formation strategy by defining free, moving, growing, and solid states for robots. Robots in these states can spontaneously organize into user-specified two-dimensional shape formations with lattice structures through local interactions and communications. To address the challenges posed by complex spatial structures in modeling a macroscopic model, this work introduces the structural features estimation method. Subsequently, a corresponding non-spatial macroscopic model is developed to predict and analyze the self-assembly behavior, employing the proposed estimation method and a stock and flow diagram. Real-robot experiments and simulations validate the flexibility, scalability, and high efficiency of the proposed self-assembly formation strategy. Moreover, extensive experimental and simulation results demonstrate the model’s accuracy in predicting the self-assembly process under different conditions. Model-based analysis indicates that the proposed self-assembly formation strategy can fully utilize the performance of individual robots and exhibits strong self-stability.

show abstract

Section: The Distributed Self-assembly Formation Strategy For Swarm R...mentioning

confidence: 99%