Skip to main content
SpringerLink
Log in

Guidance of Robot Swarm by Phase Gradient in 3D Space

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9834))

Included in the following conference series:

Abstract

In this paper, we proposed a simple system that could control the direction of a swarm of mobile robots by using phase gradient. We implemented a system of autonomous mobile robots, in which each robot was equipped an oscillator with local interaction ability. By introducing relative direction among robots, we realized a particular phase distribution so that we could guide a swarm of robots in 2D or 3D spaces. We verified the proposed system by experiments and simulations.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Takamatsu, A., et al.: Controlling the geometry and the coupling strength of the oscillator system in plasmodium of Physarum polycephalum by microfabricated structure. Protoplasma 210, 164–171 (2000)

    Article  Google Scholar 

  2. Shimoyama, N., et al.: Collective motion in a system of motile elements. Phys. Rev. Lett. 76(20), 3870–3873 (1996)

    Article  Google Scholar 

  3. Kuramoto, Y.: Chemical Oscillation, Waves, and Turbulance. Springer, Heidelberg (1984)

    Book  MATH  Google Scholar 

  4. Jadbabaie, A., et al. On the stability of the kuramoto model of coupled nonlinear oscillators. In: Proceeding of the 2004 American Control Conference, pp. 4296–4301 (2004)

    Google Scholar 

  5. Kurabayashi, D., et al.: Adaptive formation transition of a swarm of mobile robots based on phase gradient. J. Robot. Mech. 22(4), 467–474 (2010)

    Google Scholar 

  6. Mondada, F., et al.: The e-puck a robot designed for education in engineering. In: Proceeding of the 9th Conference on Autonomous Robot Systems and Competitions, vol. 1(1), pp. 59–65 (2009)

    Google Scholar 

  7. Kawata, H., et al.: Development of ultra-small lightweight optical range sensor systems. In: Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3277–3282 (2005)

    Google Scholar 

Download references

Acknowledgement

This work was partially supported by KAKENHI 25420212, MEXT Japan.

Author information

Authors and Affiliations

  1. Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152-8552, Japan

    Keita Horayama & Daisuke Kurabayashi

  2. Gemalto Pte Ltd, 12 Ayer Rajah Crescent, Singapore, 139941, Singapore

    Syarif Ahmad

  3. Yaskawa Electric, 480 Fujisawa, Iruma-shi, Saitama, 358-8555, Japan

    Ayaka Hashimoto

  4. Toshiba, 1 Komukaitoshiba-cho, Saiwai-ku, Kawasaki-shi, Kanagawa, 212-8582, Japan

    Takuro Moriyama

  5. Toshiba, 1 Toshiba-cho, Fuchu-shi, Tokyo, 183-8511, Japan

    Tatsuki Choh

Authors
  1. Keita Horayama
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Daisuke Kurabayashi
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Syarif Ahmad
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Ayaka Hashimoto
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Takuro Moriyama
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Tatsuki Choh
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Daisuke Kurabayashi .

Editor information

Editors and Affiliations

  1. Tokyo Metropolitan University , Tokyo, Japan

    Naoyuki Kubota

  2. Kyushu University , Fukuoka, Japan

    Kazuo Kiguchi

  3. University of Portsmouth , Portsmouth, United Kingdom

    Honghai Liu

  4. Tokyo Metropolitan University , Tokyo, Japan

    Takenori Obo

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this paper

Cite this paper

Horayama, K., Kurabayashi, D., Ahmad, S., Hashimoto, A., Moriyama, T., Choh, T. (2016). Guidance of Robot Swarm by Phase Gradient in 3D Space. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_39

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-43506-0_39

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-43505-3

  • Online ISBN: 978-3-319-43506-0

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation