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Motion control of a flock of 1 - trailer robots with swarm avoidance

Raj, Jai and Raghuwaiya, Krishna and Sharma, Bibhya N. and Vanualailai, Jito (2021) Motion control of a flock of 1 - trailer robots with swarm avoidance. Robotica, NA . pp. 1-26. ISSN 0263-5747

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This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: School of Pacific Arts, Communication and Education (SPACE)
School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User: Ms Shalni Sanjana
Date Deposited: 19 Feb 2021 00:04
Last Modified: 17 Feb 2022 22:20

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