Robotic simulation of gases for a surveillance task

Kerr, Wesley; Spears, Diana F.

doi:10.1109/iros.2005.1545429

Cited by 22 publications

(12 citation statements)

References 12 publications

(19 reference statements)

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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

Narain

Golas

Curtis

et al. 2009

ACM SIGGRAPH Asia 2009 Papers

165

134

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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

Narain

Golas

Curtis

et al. 2009

ACM SIGGRAPH Asia 2009 Papers

165

134

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show abstract

“…Two formal gas models were proposed for multiagent sweeping and obstacle avoidance in the work of Kerr et al With the gas models, if a container is designed, the gas can eventually diffuse throughout the container until it reaches an asymptotic state. Therefore, gas‐based physicomimetics approaches can be used to address coverage problems, such as sweeping and surveillance within a bounded area.…”

Section: Introductionmentioning

confidence: 99%

A liquid sphere‐inspired physicomimetics approach for multiagent formation control

Wang

Zhang

2018

Intl J Robust & Nonlinear

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INTRODUCTIONResearch on the formation of multiagent systems has attracted growing interest in recent years, 1,2 triggered mainly by the technological advances in control techniques for single vehicles and the explosion in computational and communication capabilities. Research in the field of formation control and coordination for multiagent systems is currently progressing in areas, such as the formation of unmanned aerial vehicles (UAVs), 3 unmanned underwater vehicles, 4 satellites, 5 and spacecraft. 6 Various control strategies for multiagent formations have been investigated for many years, such as the leader-follower approach, 7-9 virtual structure approach, 10-12 behavior-based approach, 13,14 artificial potential field (APF) approach, 15-18 and motion planning approach. 19 Besides, different approaches for multiagent formation are well reviewed in other works 20-22 from different viewpoints. Among these approaches, APF-based approaches are similar to the work in this paper to some extent. In the work of Fax and Murray, 15 APF was used to design a distributed control law for the coordination of multiple vehicles. The distributed control law for each vehicle did not depend on the state of all other vehicles in the formation. However, it does not guarantee stabilization of the system of multiple vehicles to a unique desired formation. In the work of Olfati-Saber and Murray, 16 a structural potential function (SPF)-based approach was proposed for multivehicle formations. The SPF-based approach imposed a specific structure on a weighted graph associated with the formation of the vehicles, guaranteeing that the multivehicle system converged to a unique desired formation. However, the required Int J Robust Nonlinear Control. 2018;28:4565-4583. wileyonlinelibrary.com/journal/rnc © 2018 John Wiley & Sons, Ltd. 4565 4566 WANG ET AL.communication links were considerable in the SPF-based approach. In terms of flexibility and scalability, the APF-based approaches could be used to address the problem of transformation and the addition of an extra agent to a formation, but the distributed controllers for all of the corresponding agents need to be reconfigured. Motivated by the aforementioned considerations, we focus on a novel physicomimetics approach for the formation control in this paper. The concept of "physicomimetics" was first introduced in the work of Spears et al. 23 Physicomimetics is a type of artificial physics. The basic idea originates from natural physics, such as Newton's second law and universal gravitation. They used virtual physics forces to drive a multiagent system to a desired state. The desired state is one that minimizes the system's overall potential energy. In the physicomimetics approach, each agent acts as a molecular dynamic (F = ma). Thus, physicomimetics is founded upon solid scientific principles. As an example, 23 formulated vehicle swarms as various regular geometric lattice configurations by modeling the interactive force using virtual physics forces, which is similar to universal gravi...

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“…For example, works discussing cooperative searching tasks for static or dynamic targets can be found in (Altshuler et al, 2005b;Kerr and Spears, 2005;Passino et al, 2002;Polycarpou et al, 2001;Stone, 1975;Koopman, ;Vincent and Rubin, 2004) whereas examples for cooperative coverage of given regions are presented in (Rekleitisy et al, 2004;Rekleitis et al, 2005;Kong et al, 2006).…”

Section: Introductionmentioning

confidence: 99%

COLLABORATIVE EXPLORATION IN GRID DOMAINS - Constructive Conjecture of a Polynomial Time Complexity

Altshuler

Bruckstein

Wagner³

2009

Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics

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Abstract:This work discusses the problem of exploration of an unknown environment using a collaborative group of simple agents. While this problem was known to be of a non-polynomial time complexity, it was speculated in the past that in grid domains the completion time of this problem is much lower (although analytic proofs were not available hitherto). In this work we present a preliminary result concerning a constructive analytic constraint for guaranteeing that the time complexity of this problem in grid domains is indeed polynomial.

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Robotic simulation of gases for a surveillance task

Cited by 22 publications

References 12 publications

Aggregate dynamics for dense crowd simulation

Aggregate dynamics for dense crowd simulation

A liquid sphere‐inspired physicomimetics approach for multiagent formation control

COLLABORATIVE EXPLORATION IN GRID DOMAINS - Constructive Conjecture of a Polynomial Time Complexity

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