A distributed control strategy for groups of robots with application in flocking
Abstract This paper presents a distributed control strategy, named Triangle Formation (TF) algorithm, for a group of robots. The algorithm is based on a geometric approach and enables three neighboring robots to form an Equilateral Triangular Configuration (ETC). The TF algorithm is scalable since i...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2024-12-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-024-83703-x |
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| _version_ | 1841559440891838464 |
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| author | Xiang Li Chuanchuan Wang Chunyan Li |
| author_facet | Xiang Li Chuanchuan Wang Chunyan Li |
| author_sort | Xiang Li |
| collection | DOAJ |
| description | Abstract This paper presents a distributed control strategy, named Triangle Formation (TF) algorithm, for a group of robots. The algorithm is based on a geometric approach and enables three neighboring robots to form an Equilateral Triangular Configuration (ETC). The TF algorithm is scalable since it is developed for a large group of robots by using a neighbor selection technique. To achieve obstacle avoidance by group, the algorithm is enhanced further by introducing an artificial physics model. A series of simulation studies have been conducted to observe the performance and the effectiveness of the TF algorithm. These empirical results show that group flocking with multi-ETC network in an unknown environment can be realized with the TF algorithm successfully. |
| format | Article |
| id | doaj-art-7a8bf7bb41b645a5bbc6f2b16971e2b6 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-7a8bf7bb41b645a5bbc6f2b16971e2b62025-01-05T12:30:39ZengNature PortfolioScientific Reports2045-23222024-12-0114111510.1038/s41598-024-83703-xA distributed control strategy for groups of robots with application in flockingXiang Li0Chuanchuan Wang1Chunyan Li2School of Engineering, Guangzhou College of Technology and BusinessSchool of Engineering, Guangzhou College of Technology and BusinessLibrary, Yulin Normal UniversityAbstract This paper presents a distributed control strategy, named Triangle Formation (TF) algorithm, for a group of robots. The algorithm is based on a geometric approach and enables three neighboring robots to form an Equilateral Triangular Configuration (ETC). The TF algorithm is scalable since it is developed for a large group of robots by using a neighbor selection technique. To achieve obstacle avoidance by group, the algorithm is enhanced further by introducing an artificial physics model. A series of simulation studies have been conducted to observe the performance and the effectiveness of the TF algorithm. These empirical results show that group flocking with multi-ETC network in an unknown environment can be realized with the TF algorithm successfully.https://doi.org/10.1038/s41598-024-83703-xSwarm roboticsDistributed controlArtificial physicsFlocking |
| spellingShingle | Xiang Li Chuanchuan Wang Chunyan Li A distributed control strategy for groups of robots with application in flocking Scientific Reports Swarm robotics Distributed control Artificial physics Flocking |
| title | A distributed control strategy for groups of robots with application in flocking |
| title_full | A distributed control strategy for groups of robots with application in flocking |
| title_fullStr | A distributed control strategy for groups of robots with application in flocking |
| title_full_unstemmed | A distributed control strategy for groups of robots with application in flocking |
| title_short | A distributed control strategy for groups of robots with application in flocking |
| title_sort | distributed control strategy for groups of robots with application in flocking |
| topic | Swarm robotics Distributed control Artificial physics Flocking |
| url | https://doi.org/10.1038/s41598-024-83703-x |
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