Mind the Gap! Predictive Flocking of Aerial Robot Swarm in Cluttered Environments

Date

2022-09-10

Author

Önür, Giray
Turgut, Ali Emre
Şahin, Erol

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

105
views

0
downloads

Flocking, coordinated movement of individuals, widely observed in animal societies, and it is commonly used to guide robot swarms in cluttered environments. In standard flocking models, robot swarms often use local interactions between the robots and obstacles to achieve safe collective motion using virtual forces. However, these models generally involve parameters that must be tuned specifically to the environmental layout to avoid collisions. In this paper, we propose a predictive flocking model that can perform safe collective motion in different environmental layouts without any need for parameter tuning. In the model, each robot constructs a search tree consisting of its predicted future states and utilizes a heuristic search to find the most promising future state to use as the next control input. Flocking performance of the model is compared against the standard flocking model in simulation in different environmental layouts, and it is validated indoors with a swarm of six quadcopters. The results show that more synchronized and robust flocking behavior can be achieved when robots use the predicted states rather than the current states of others.

URI

https://hdl.handle.net/11511/102269

DOI

https://doi.org/10.1007/978-3-031-20176-9_14

Conference Name

13th International Conference on Swarm Intelligence: ANTS 2022

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Investigation of Cue-Based Aggregation Behaviour in Complex Environments Wang, Shiyi; Turgut, Ali Emre; Schmickl, Thomas; Lennox, Barry; Arvin, Farshad (2021-01-01) Swarm robotics is mainly inspired by the collective behaviour of social animals in nature. Among different behaviours such as foraging and flocking performed by social animals; aggregation behaviour is often considered as the most basic and fundamental one. Aggregation behaviour has been studied in different domains for over a decade. In most of these studies, the settings are over-simplified that are quite far from reality. In this paper, we investigate cue-based aggregation behaviour using BEECLUST in a c...
Swarm robotics: From sources of inspiration to domains of application Şahin, Erol (2005-01-01) Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects. This paper proposes a definition to this newly emerging approach by 1) describing the desirable properties of swarm robotic systems, as observed in the system-level functioning of social insects, 2) proposing a definition for the term swarm robotics, and putting forward a set of criteria that can be used to distinguish swarm robotics research from other multi-r...
Swarm robotics: From sources of inspiration to domains of application Şahin, Erol (Springer Verlag; 2005-09-01) Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects. This paper proposes a definition to this newly emerging approach by 1) describing the desirable properties of swarm robotic systems, as observed in the system-level functioning of social insects, 2) proposing a definition for the term swarm robotics, and putting forward a set of criteria that can be used to distinguish swarm robotics research from other multi-r...
Human aware navigation of a mobile robot in crowded dynamic environments Hacınecipoğlu, Akif; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2019) As mobile robots start operating in dynamic environments crowded with humans, human-aware and human-like navigation is required to make these robots navigate safely, efficiently and in socially compliant manner. People can navigate in an interactive and cooperative fashion so that, they are able to find their path to a destination even if there is no clear path leading to it. This is clearly a dexterity of humans. But the mobile robots which have to navigate in such environments lack this feature. Even perf...
Extending The Lossy Spring-Loaded Inverted Pendulum Model with a Slider-Crank Mechanism Orhon, H. Eftun; Odabas, Caner; Uyanik, Ismail; Morgul, Omer; Saranlı, Uluç (2015-07-31) Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical systems resulted in newer models which are extended versions of original SLIP with viscous damping in the leg. However, such lossy models require an additional mechanism for pumping energy to the system to control the locomotion and to reach a limit-cycle. Some studies so...

Citation Formats

G. Önür, A. E. Turgut, and E. Şahin, “Mind the Gap! Predictive Flocking of Aerial Robot Swarm in Cluttered Environments,” presented at the 13th International Conference on Swarm Intelligence: ANTS 2022, Malaga, İspanya, 2022, Accessed: 00, 2023. [Online]. Available: https://hdl.handle.net/11511/102269.