Using Stream Functions for Complex Behavior and Path Generation

Sullivan, Jeffrey M; Waydo, Stephen; Campbell, Mark

doi:10.2514/6.2003-5800

Cited by 39 publications

(28 citation statements)

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“…Concepts from hydrodynamic analysis are used to construct potential fields with no local extrema for vehicle guidance. Related work can also be found in (Waydo and Murray 2003b) and (Sullivan, et. al., 2003).…”

Section: Introductionmentioning

confidence: 93%

Coordinated Motion Control of Swarms With Dynamic Connectivity in Potential Flows

Wang

Tanaka

2005

IFAC Proceedings Volumes

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This paper presents a general framework for coordinated motion control of autonomous swarms in the presence of obstacles. The proposed framework judiciously combines concepts and techniques from potential flows, artificial potentials and dynamic connectivity to realize complex swarm behaviors. To begin with, existing concepts from potential flows in fluid mechanics are used to solve the single-agent navigation problem. As an extension, an analytical solution to the stagnation point problem is provided. The potential flow based framework is then modified significantly to facilitate the coordinated control of swarms navigating through multiple obstacles. Artificial potentials are employed for swarming as well as enhanced obstacle avoidance. A novel concept of dynamic connectivity is utilized to improve the performance of obstacle avoidance (Line of Sight Connectivity) and to organize diverse swarm behaviors (Random Connectivity). Simulation results with a set of developed algorithms are included to illustrate the viability the proposed framework.

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Section: Introductionmentioning

confidence: 93%

Coordinated Motion Control of Swarms With Dynamic Connectivity in Potential Flows

Wang

Tanaka

2005

IFAC Proceedings Volumes

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“…기존의 연구 [5,6,12]에서, 각 에이전트는 성공적인 그룹 행동을 위해 모든 에이전트의 위치 정보를 사용하였다. 또 한 연결가능성이 높은 에이전트를 따라서 움직이는 경로 계 획을 고려하였고 [5,6] [14].…”

Section: B 관련된 연구unclassified

Self-Organization of Swarm Robots Based on Color Recognition

Jung¹,

Hwang²,

Kim³

2010

Journal of Korean Institute of Intelligent Systems

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In the study, self-organization by color detection is proposed to overcome required constraints for existing self -organization by an external ceiling camera and communication. In the proposed self-organization, each swarm robot can follow its colleague robot and all swarm robots can follow a target by LOS(Line of Sight). The swarm robots follow the moving target by the proposed potential field, avoiding confliction with neighboring robots and obstacles. Finally, all swarm robots are reached by a sight among swarm robots. In this paper, for unicycle robots with non-holonomic constraints instead of point robot with holonomic constraints self-organization is presented, it enhances the possibility of H/W realization.

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“…[2] for a more thorough description of the streamline theory, and Ref. [3] for additional multiple vehicle planning approaches with multiple dynamic obstacles using streamlines.…”

Section: Sink (Goal) Doubletmentioning

confidence: 99%

Human Centered, Variable Initiative Control of Complex Automata-Teams

Campbell¹

2004

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Using Stream Functions for Complex Behavior and Path Generation

Cited by 39 publications

References 0 publications

Coordinated Motion Control of Swarms With Dynamic Connectivity in Potential Flows

Coordinated Motion Control of Swarms With Dynamic Connectivity in Potential Flows

Self-Organization of Swarm Robots Based on Color Recognition

Human Centered, Variable Initiative Control of Complex Automata-Teams

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