Self-organized Collective Motion with a Simulated Real Robot Swarm

Date

2019-07-01

Author

Raoufi, Mohsen
Turgut, Ali Emre
Arvin, Farshad

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

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Collective motion is one of the most fascinating phenomena observed in nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics related to collective motion, also called flocking. In most of these studies, robots use orientation and proximity of their neighbors to achieve collective motion. In such an approach, one of the biggest problems is to measure orientation information using on-board sensors. In most of the studies, this information is either simulated or implemented using communication. In this paper, we implemented a fully autonomous coordinated motion without alignment using very simple Mona robots. We used an approach based on Active Elastic Sheet (AES) method. We modified the method and added the capability to enable the swarm to move toward a desired direction and rotate about an arbitrary point. The parameters of the modified method are optimized using TCACS optimization algorithm. We tested our approach in different settings using Matlab and Webots.

Subject Keywords

Swarm robotics, Collective motion, Coordinated motion, Flocking, Self-organized

URI

https://hdl.handle.net/11511/88721

DOI

https://doi.org/10.1007/978-3-030-23807-0_22

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

M. Raoufi, A. E. Turgut, and F. Arvin, “Self-organized Collective Motion with a Simulated Real Robot Swarm,” 2019, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/88721.