Control of swarms based on Hydrodynamic models

Pimenta, Luciano C. A.; Michael, N.; Mesquita, Renato C.; Pereira, Guilherme A. S.; Kumar, Vijay

doi:10.1109/robot.2008.4543492

Cited by 54 publications

(34 citation statements)

References 11 publications

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“…In other areas, some approaches have used models inspired by fluid dynamics to control large groups of robots [Shimizu et al 2003;Kerr and Spears 2005;Pimenta et al 2008] and to handle collision in cloth simulation [Sifakis et al 2008]. Our work shares some common themes with the concurrent work of McAdams et al [2009], who accelerate hair simulation by coupling the motion of individual hair strands to an incompressible Eulerian flow.…”

Section: Introductionmentioning

confidence: 88%

Aggregate dynamics for dense crowd simulation

et al. 2009

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Large dense crowds show aggregate behavior with reduced individual freedom of movement. We present a novel, scalable approach for simulating such crowds, using a dual representation both as discrete agents and as a single continuous system. In the continuous setting, we introduce a novel variational constraint called unilateral incompressibility, to model the large-scale behavior of the crowd, and accelerate inter-agent collision avoidance in dense scenarios. This approach makes it possible to simulate very large, dense crowds composed of up to a hundred thousand agents at nearinteractive rates on desktop computers.

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Section: Introductionmentioning

confidence: 88%

Aggregate dynamics for dense crowd simulation

et al. 2009

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“…In this context, the related methodologies mainly use the SPH model for fluid simulation to control robots swarm behaving as a fluid. This technique has successfully been used to demonstrate how multi-robotic agents modeled as a stream of incompressible/compressible fluid are capable of being applied in tasks such as: group motion and shape control, and group segregation [22], pattern generation [23], [24] and unknown area coverage.…”

Section: Related Workmentioning

confidence: 99%

A distance weighted-based approach for self-organized aggregation in robot swarms

Khaldi

Harrou

Cherif

et al. 2017

2017 5th International Conference on Electrical Engineering - Boumerdes (ICEE-B)

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“…Depending on the presence or absence of a pedestrian in each cell, the global crowd was discretely calculated. [24] While the global congestion was derivable from a simple model, the calculated result depends on the number of cells. Focusing on continuous systems, the congestion models based on the incompressible and compressible hydrodynamics have been proposed.…”

Section: Related Workmentioning

confidence: 99%

Safe and efficient motion planning of multiple mobile robots based on artificial potential for human behavior and robot congestion

Hoshino¹,

Maki²

2015

Advanced Robotics

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In order for robots to exist together with humans, safety for the humans has to be strictly ensured. On the other hand, safety might decrease working efficiency of robots. Namely, this is a trade-off problem between human safety and robot efficiency in a field of human-robot interaction. For this problem, we propose a novel motion planning technique of multiple mobile robots. Two artificial potentials are presented for generating repulsive force. The first potential is provided for humans. The von Mises distribution is used to consider the behavioral property of humans. The second potential is provided for the robots. The Kernel density estimation is used to consider the global robot congestion. Through simulation experiments, the effectiveness of the behavior and congestion potentials of the motion planning technique for human safety and robot efficiency is discussed. Moreover, a sensing system for humans in a real environment is developed. From experimental results, the significance of the behavior potential based on the actual humans is discussed. For the coexistence of humans and robots, it is important to evaluate a mutual influence between them. For this purpose, a virtual space is built using projection mapping. Finally, the effectiveness of the motion planning technique for the human-robot interaction is discussed from the point of view of not only robots but also humans.

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Control of swarms based on Hydrodynamic models

Cited by 54 publications

References 11 publications

Aggregate dynamics for dense crowd simulation

Aggregate dynamics for dense crowd simulation

A distance weighted-based approach for self-organized aggregation in robot swarms

Safe and efficient motion planning of multiple mobile robots based on artificial potential for human behavior and robot congestion

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