"In this paper, a novel decentralized swarm aggregation algorithm for multi-robot systems with an integrated obstacle avoidance is proposed. In this framework, the interaction among robots is limited to their visibility neighborhood, i.e., robots that are within the visibility range of each other. Furthermore, to better comply with the hardware\/software limitations of mobile robotic platforms, robots actuators are assumed to be saturated. A theoretical characterization of the main properties of the proposed swarm aggregation algorithm is provided. Simulations have been carried out to validate the theoretical results and experiments have been performed with a team of low-cost mobile robots to demonstrate the effectiveness of the proposed approach in real scenario."
Leccese, A., Gasparri, A., Priolo, A., Oriolo, G., Ulivi, G. (2013). A Swarm Aggregation Algorithm based on Local Interaction with Actuator Saturations and Integrated Obstacle Avoidance. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013) (pp.1865-1870) [10.1109/ICRA.2013.6630823].
A Swarm Aggregation Algorithm based on Local Interaction with Actuator Saturations and Integrated Obstacle Avoidance
LECCESE, ANTONIO;GASPARRI, ANDREA;ULIVI, Giovanni
2013-01-01
Abstract
"In this paper, a novel decentralized swarm aggregation algorithm for multi-robot systems with an integrated obstacle avoidance is proposed. In this framework, the interaction among robots is limited to their visibility neighborhood, i.e., robots that are within the visibility range of each other. Furthermore, to better comply with the hardware\/software limitations of mobile robotic platforms, robots actuators are assumed to be saturated. A theoretical characterization of the main properties of the proposed swarm aggregation algorithm is provided. Simulations have been carried out to validate the theoretical results and experiments have been performed with a team of low-cost mobile robots to demonstrate the effectiveness of the proposed approach in real scenario."I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
