Vanualailai, Jito and Sharma, Bibhya N. (2012) A cohesive langrangian swarm and its application to multiple unicycle-like vehicles. [Conference Proceedings]
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Abstract
Swarm principles are increasingly being used to design
controllers for the coordination of multi-robot systems or, in general,multi-agent systems. This paper proposes a two-dimensional Lagrangian swarm model that enables the planar agents, modeled as point masses, to swarm whilst effectively avoiding each other and obstacles in the environment. A novel method, based on an extended Lyapunov approach, is used to construct the model. Importantly, the Lyapunov method ensures a form of practical stability that guarantees an emergent behavior, namely, a cohesive and wellspaced swarm with a constant arrangement of individuals about the swarm centroid. Computer simulations illustrate this basic feature of collective behavior. As an application, we show how multiple planar mobile unicycle-like robots swarm to eventually form patterns in which their velocities and orientations stabilize.
| Item Type: | Conference Proceedings |
|---|---|
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
| Depositing User: | Generic Account |
| Date Deposited: | 16 May 2013 21:13 |
| Last Modified: | 16 Jan 2017 02:56 |
| URI: | https://repository.usp.ac.fj/id/eprint/5838 |
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