Implementation Studies of Robot Swarm Navigation Using Potential Functions and Panel Methods

Date

2016-10-01

Author

Merheb, Abdel-Razzak
GAZİ, VEYSEL
Sezer Uzol, Nilay

Metadata

Show full item record

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

Item Usage Stats

41
views

0
downloads

This paper presents a practical swarm navigation algorithm based on potential functions and properties of inviscid incompressible flows. Panel methods are used to solve the flow equations around complex shaped obstacles and to generate the flowlines, which provide collision-free paths to the goal position. Safe swarm navigation is achieved by following the generated streamlines. Potential functions are used to achieve and maintain group cohesion or a geometric formation during navigation. The algorithm is implemented and tested through numerical simulations, as well as experimental implementations on real robots in a laboratory environment in two settings, in which the flowlines are calculated either offline or in real time. The algorithm is easy to implement and can serve as an effective tool for cohesive navigation of robotic swarms.

Subject Keywords

Autonomous Navigation, Cohesive Motion, Flow/Stream Functions, Formation Control, Multiagent Dynamic Systems, Panel Methods, Potential Functions, Robot Swarm

URI

https://hdl.handle.net/11511/42310

Journal

IEEE-ASME TRANSACTIONS ON MECHATRONICS

DOI

https://doi.org/10.1109/tmech.2016.2580303

Collections

Department of Aerospace Engineering, Article

Suggestions

OpenMETU
Core

Multi-objective decision making using fuzzy discrete event systems: A mobile robot example Boutalis, Yiannis; Schmidt, Klaus Verner (2010-09-29) In this paper, we propose an approach for the multi-objective control of sampled data systems that can be modeled as fuzzy discrete event systems (FDES). In our work, the choice of a fuzzy system representation is justified by the assumption of a controller realization that depends on various potentially imprecise sensor measurements. Our approach consists of three basic steps that are performed in each sampling instant. First, the current fuzzy state of the system is determined by a sensor evaluation. Seco...
Cooperative terrain based navigation and coverage identification using consensus Kasebzadeh, Parinaz; Fritsche, Carsten; Özkan, Emre; Gunnarsson, Fredrik; Gustafsson, Fredrik ( Institute of Electrical and Electronics Engineers Inc.; 2015-07-06) This paper presents a distributed online method for joint state and parameter estimation in a Jump Markov NonLinear System based on a distributed recursive Expectation Maximization algorithm. State inference is enabled via the use of Rao-Blackwellized Particle Filter and, for the parameter estimation, the E-step is performed independently at each sensor with the calculation of local sufficient statistics. An average consensus algorithm is used to diffuse local sufficient statistics to neighbors and approxim...
Numerical Solution of Multi-scale Electromagnetic Boundary Value Problems by Utilizing Transformation-Based Metamaterials Ozgun, Ozlem; Kuzuoğlu, Mustafa (2011-06-23) We present numerical solution techniques for efficiently handling multi-scale electromagnetic boundary value problems having fine geometrical details or features, by utilizing spatial coordinate transformations. The principle idea is to modify the computational domain of the finite methods (such as the finite element or finite difference methods) by suitably placing anisotropic metamaterial structures whose material parameters are obtained by coordinate transformations, and hence, to devise easier and effic...
Efficient Computation of Green's Functions for Multilayer Media in the Context of 5G Applications Mittra, Raj; Özgün, Özlem; Li, Chao; Kuzuoğlu, Mustafa (2021-03-22) This paper presents a novel method for effective computation of Sommerfeld integrals which arise in problems involving antennas or scatterers embedded in planar multilayered media. Sommerfeld integrals that need to be computed in the evaluation of spatial-domain Green's functions are often highly oscillatory and slowly decaying. For this reason, standard numerical integration methods are not efficient for such integrals, especially at millimeter waves. The main motivation of the proposed method is to comput...
Assessment of alternative simulation techniques in nonlinear time history analyses of multi-story frame buildings: A case study Karim Zadeh Naghshineh, Shaghayegh; Askan Gündoğan, Ayşegül; Yakut, Ahmet (2017-07-01) In regions with sparse ground motion data, simulations provide alternative acceleration time series for evaluation of the dynamic response of a structure. Different ground motion simulation methods provide varying levels of goodness of fit between observed and synthetic data. Before using the seismologically acceptable synthetic records for engineering purposes, it is critical to investigate the efficiency of synthetics in predicting observed seismic responses of structures. For this purpose, in this study ...

Citation Formats

A.-R. Merheb, V. GAZİ, and N. Sezer Uzol, “Implementation Studies of Robot Swarm Navigation Using Potential Functions and Panel Methods,” IEEE-ASME TRANSACTIONS ON MECHATRONICS, pp. 2556–2567, 2016, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/42310.