Velocity Correlation in Swarm Robtos with Directional Neighborhood
Most of robotic systems introduce a directionless neighborhood area, such as a circle or sphere, for robot communication and interaction because it reflects a natural property of some physical sensors and devices. On the other hand, it has reported that some of natural birds employ directional neighborhood for neighbor observation. In this paper, we introduce the directional neighbor to a robotic swarm system, and we investigate how it affects to the connectivity and stability of the system.
Keywordsflocking directional neighborhood velocity correlation
Unable to display preview. Download preview PDF.
- 3.Ren, W., Beard, R.W., Atkins, E.M.: A Survey of Consensus Problems in Multi-agent Coordination. In: Proceedings of the 2005 in American Control Conference, vol. 3, pp. 1859–1864 (2005)Google Scholar
- 4.Reynolds, C.W.: Flocks, herds, and schools: A distributed behavioral model, Proceedings of Computer Graphics. In: ACM SIGGRAPH 1987 Conference, vol. 21(4), pp. 25–34 (1987)Google Scholar
- 6.Su, H., Wang, X., Lin, Z.: Flocking of Multi-Agents With a Virtual Leader. IEEE Transactions on Automatic Control 54(2) (2009)Google Scholar
- 8.Tanner, H.G., Jadbabaie, A., Pappas, G.J.: Stable flocking of mobile agents, part I: Fixed topology. In: Proceedings of 42nd IEEE Conference on Decision and Control, pp. 2010–2015 (2003)Google Scholar