Two Stage Architecture for Navigating Multiple Guided Weapons into a Widespread Target

Ekanayake, Samitha W.; Pathirana, Pubudu N.

doi:10.1109/aero.2008.4526569

Cited by 1 publication

(1 citation statement)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Some researches focused on swarm behavior modeling [ 24 ]. Ekanayake and Pathirana [ 16 , 25 – 27 ] proposed a scalable decentralized control algorithm to navigate a robotic swarm into a stationary shape. Their algorithm possesses remarkable robustness under external disturbances and works well in real world scenarios such as localization errors, communication range limitations, and boundedness of forces.…”

Section: Introductionmentioning

confidence: 99%

Formation Control of Robotic Swarm Using Bounded Artificial Forces

Qin

Zha

Yin

et al. 2013

The Scientific World Journal

View full text Add to dashboard Cite

Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

show abstract