Modeling Phase Transition in Self-organized Mobile Robot Flocks

Date

2008-09-24

Author

Turgut, Ali Emre
Huepe, Cristian
Celikkanat, Hande
Gokce, Fatih
Şahin, Erol

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

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We implement a. self-organized flocking behavior in a group of mobile robots and analyze its transition front all aligned state to all unaligned state. We briefly describe the robot and the simulator platform together with the observed flocking dynamics. By experimenting with robotic and numerical systems, we find that an aligned-to-unaligned phase transition can be observed in both physical and simulated robots as the noise level is increased, and that this transition depends oil the characteristics of the heading sensors. We extend the Vectorial Network Model to approximate the robot dynamics and show that it displays all equivalent phase transition. By computing analytically the critical noise value and numerically the steady state solutions of this model, we Show that the model matches well the results obtained using detailed physics-based simulations.

Subject Keywords

Probability Density Function, Mobile Robot , Robotic System, Critical Noise , Stable Stationary Solution

URI

https://hdl.handle.net/11511/55763

Collections

Department of Mechanical Engineering, Conference / Seminar