A Practical Approach to Robotic Swarms

H.M. Schwartz and S.N. Givigi Jr. (Canada)


Swarm Robotics, Control, Stability


This paper presents a practical and intuitive method for de signing distributed controls for swarm robotics. Each indi vidual robot follows a relatively simple control law. It is demonstrated that the robots will collectively achieve a lo cally stable swarm. It will also be shown that the robots will be able to avoid obstacles and then reconīŦgure the swarm. Simulation is used to demonstrate the performance of the technique.

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