Self-organised Flocking of Robotic Swarm in Cluttered Environments

Date

2021-01-01

Author

Liu, Zheyu
Turgut, Ali Emre
Lennox, Barry
Arvin, Farshad

Metadata

Show full item record

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

Item Usage Stats

139
views

0
downloads

Self-organised flocking behaviour, an emergent collective motion, appears in various physical and biological systems. It has been widely utilised to guide the swarm robotic system in different applications. In this paper, we developed a self-organised flocking mechanism for the homogeneous robotic swarm, which can achieve the collective motion with obstacle avoidance in a cluttered environment. The proposed mechanism introduces an obstacle avoidance approach to the Active Elastic Sheet model that was previously proposed for self-propelled particles. The proposed mechanism is represented by a nonlinear repulsive force inspired by Lennard-Jones potential function in molecular dynamics. In order to evaluate the flocking performance, three different environmental settings were implemented. Results revealed that the interaction mechanism significantly determines the robustness and stability of the swarm in flocking.

Subject Keywords

Bio-inspired, Flocking, Self-organised, Swarm robotics, Bio-inspired, Flocking, Self-organised, Swarm robotics

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85119350461&origin=inward
https://hdl.handle.net/11511/96459

DOI

https://doi.org/10.1007/978-3-030-89177-0_13

Conference Name

22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Self-organized flocking in mobile robot swarms Turgut, Ali Emre; Gökçe, Fatih; Şahin, Erol (2008-09-01) In this paper, we study self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies. We describe its infrared-based short range sensing system, capable of measuring the distance from obstacles and detecting kin robots, and a novel sensing system called the virtual heading system (VHS) which uses a digital compass and a wireless communication module for sensing the relative headings of neighboring robots. We propose a behavi...
Self-organized flocking with a mobile robot swarm Turgut, Ali Emre; Gökçe, Fatih; Şahin, Erol ( International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS); 2008-01-01) This paper studies self-organized flocking in a swarm of mo- bile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies, briefly de- scribing its sensing and communication abilities. In particular, we describe a scalable method that allows the robots to sense the orientations of their neighbors using a digital compass and wireless communication. Then we propose a behavior for a swarm of robots that creates self-organized flocking by using heading alignment and pr...
Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging Arvin, Farshad; Watson, Simon; Turgut, Ali Emre; Espinosa, Jose; Krajnik, Tomas; Lennox, Barry (2018-12-01) Swarm robotics studies the intelligent collective behaviour emerging from long-term interactions of large number of simple robots. However, maintaining a large number of robots operational for long time periods requires significant battery capacity, which is an issue for small robots. Therefore, re-charging systems such as automated battery-swapping stations have been implemented. These systems require that the robots interrupt, albeit shortly, their activity, which influences the swarm behaviour. In this p...
DEVELOPMENT OF A SOCIAL REINFORCEMENT LEARNING BASED AGGREGATION METHOD WITH A MOBILE ROBOT SWARM Gür, Emre; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-9-09) In this thesis, the development of a social, reinforcement learning-based aggregation method is covered together with the development of a mobile robot swarm of Kobot- Tracked (Kobot-T) robots. The proposed method is developed to improve efficiency in low robot density swarm environments especially when the aggregated area is difficult to find. The method is called Social Reinforcement Learning, and Landmark-Based Aggregation (SRLA) and it is based on Q learning. In this method, robots share their Q tables ...
Collective gradient perception with a flying robot swarm Karaguzel, Tugay Alperen; Turgut, Ali Emre; Eiben, A. E.; Ferrante, Eliseo (2022-10-01) In this paper, we study the problem of collective and emergent sensing with a flying robot swarm in which social interactions among individuals lead to following the gradient of a scalar field in the environment without the need of any gradient sensing capability. We proposed two methods-desired distance modulation and speed modulation-with and without alignment control. In the former, individuals modulate their desired distance to their neighbors and in the latter, they modulate their speed depending on th...

Citation Formats

Z. Liu, A. E. Turgut, B. Lennox, and F. Arvin, “Self-organised Flocking of Robotic Swarm in Cluttered Environments,” Virtual, Online, 2021, vol. 13054 LNAI, Accessed: 00, 2022. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85119350461&origin=inward.