An Overview of Physicomimetics

Spears, William M.; Spears, Diana F.; Heil, Rodney; Kerr, Wesley; Hettiarachchi, Suranga

doi:10.1007/978-3-540-30552-1_8

Cited by 80 publications

(57 citation statements)

References 14 publications

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“…In [47][48][49], the Physicomimetics Framework (PF), which allows to create a self-organised formation by using control laws inspired by physics, is presented and analysed. e controller is fully decentralised; each robot perceives the relative positions of its neighbours and reacts to attractive or repulsive forces, forming triangular lattices.…”

Section: Collective Movementmentioning

confidence: 99%

An Introduction to Swarm Robotics

2013

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Swarm robotics is a �eld of multi-robotics in which large number of robots are coordinated in a distributed and decentralised way. It is based on the use of local rules, and simple robots compared to the complexity of the task to achieve, and inspired by social insects. Large number of simple robots can perform complex tasks in a more efficient way than a single robot, giving robustness and �exibility to the group. In this article, an overview of swarm robotics is given, describing its main properties and characteristics and comparing it to general multi-robotic systems. A review of different research works and experimental results, together with a discussion of the future swarm robotics in real world applications completes this work.

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Section: Collective Movementmentioning

confidence: 99%

An Introduction to Swarm Robotics

2013

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“…The developed algorithm is based on the Physicomimetics Framework (PF) by Spears [20,21,22], that allows for the creation of a self-organized formation by using control laws inspired by physics. The controller is fully decentralized; each robot perceives the relative positions of its neighbors and reacts to attractive or repulsive virtual forces given by these positions, making the system scalable with the number of members.…”

Section: The Physicomimetics Frameworkmentioning

confidence: 99%

“…In PF, robots are considered to be holonomic vehicles. In [21], it is explained that PF is used with nonholonomic robots, by taking a large ∆t (in their case 22 s) and performing a rotational movement followed by a translational within a large time window, robots are able to achieve positions specified by a high-level control law assuming holonomicity. However, such a workaround would not be practical for most of the potential real-world applications.…”

Section: The Physicomimetics Frameworkmentioning

confidence: 99%

“…In the second type of formation, robots react to the positions of their neighboring robots, creating among the robots a regular pattern made up of squares, rectangles or triangles [3,7,12,20,21,22]. No leaders are designated, and in principle the global shape of the formation is not pre-specified, and is determined solely by local interactions.…”

Section: Introductionmentioning

confidence: 99%

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A Distributed Scalable Approach to Formation Control in Multi-robot Systems

Navarro

Pugh

Martinoli

et al. 2009

Distributed Autonomous Robotic Systems 8

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A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the formation is not pre-established but rather results from local interactions, giving all the robots a common, self-organized heading. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable speed and maintaining the desired distances among themselves. Up to seven robots were used in real experiments and up to forty in simulation.

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“…Existing aerial robotic swarms use relative or global positioning information to navigate in their environment using either map-based strategies (Kuiper and NadjmTehrani, 2006;Parunak et al, 2005;Sauter et al, 2005;Elston and Frew, 2008;Flint et al, 2002;Lawrence et al, 2004;Pack and York, 2005;Yang et al, 2005), Reynolds' Flocking (Reynolds, 1987) or Artificial Physics (Spears et al, 2005) approaches (Basu et al, 2004;De Nardi and Holland, 2007;Holland et al, 2005;Kadrovach and Lamont, 2001;Merino et al, 2006), or predefined swarm formations (Vincent and Rubin, 2004). Other researchers have explored the use of artificial evolution to automatically determine position-aware swarm controllers (Gaudiano et al, 2005;Lin et al, 2004;Richards et al, 2005;Soto and Lin, 2005;Wu et al, 1999).…”

Section: Introductionmentioning

confidence: 99%

Evolved swarming without positioning information: an application in aerial communication relay

2008

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In most swarm systems, agents are either aware of the position of their direct neighbors or they possess a substrate on which they can deposit information (stigmergy). However, such resources are not always obtainable in real-world applications because of hardware and environmental constraints. In this paper we study in 2D simulation the design of a swarm system which does not make use of positioning information or stigmergy.This endeavor is motivated by an application whereby a large number of Swarming Micro Air Vehicles (SMAVs), of fixed-wing configuration, must organize autonomously to establish a wireless communication network (SMAVNET) between users located on ground. Rather than relative or absolute positioning, agents must rely only on their own heading measurements and local communication with neighbors.Designing local interactions responsible for the emergence of the SMAVNET deployment and maintenance is a challenging task. For this reason, artificial evolution is used to automatically develop neuronal controllers for the swarm of homogenous agents. This approach has the advantage of yielding original and efficient swarming strategies. A detailed behavioral analysis is then performed on the fittest swarm to gain insight as to the behavior of the individual agents.

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An Overview of Physicomimetics

Cited by 80 publications

References 14 publications

An Introduction to Swarm Robotics

An Introduction to Swarm Robotics

A Distributed Scalable Approach to Formation Control in Multi-robot Systems

Evolved swarming without positioning information: an application in aerial communication relay

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