Decentralized Swarm Control in Communication-Constrained Environments Using a Blended Leader Follower-Artificial Potential Field With Biologically Inspired Interactions
Christopher Goodin,
Greg Henley,
Lucas Cagle
et al.
Abstract:This paper presents a study of how communication ranges influence the performance of a new decentralized control method for swarms of autonomously navigating ground vehicles that uses a blended leader-follower / artificial potential field approach. While teams of autonomous ground vehicles (AGV) that can navigate autonomously through off-road terrain have a variety of potential uses, it may be difficult to control the team in low-infrastructure environments that lack long-range radio communications capabilitie… Show more
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