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Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots
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AI
DOI：10.1007/978-3-032-04584-3_12.png)
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Abstract
En 中文
We present a decentralized control algorithm for a minimalist robotic swarm with limited memory and lacking explicit communication, or relative position information to encapsulate multiple diffusive target sources in a bounded environment. The state-of-the-art approaches generally require either local communication or relative localization to provide guarantees of convergence and safety. We quantify trade-offs between task, control, and robot parameters for guaranteed safe convergence to all the sources. Furthermore, our algorithm is robust to occlusions and noise in the sensor measurements as we demonstrate in simulation.
Keywords:
Minimalist robots
Swarms
Multi-Source encapsulation
Obstacle avoidance
Guaranteed convergence
Journal
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Papers:
22
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