Skip to main content
SpringerLink
Log in

Robotic Swarm Shape Control Based on Virtual Viscoelastic Chain

  • Conference paper
  • First Online:
Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (AUTOMATION 2021)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1390))

Included in the following conference series:

  • 452 Accesses

Abstract

We present a physicomimetic method for self-organization and swarm shape control of nonholonomic robotic swarm, based on length controlled spring damper chain. The article starts with explanation of two wheel robot dynamics and relation between virtual forces allowing for robot control and swarm formation of a desired convex shape. Two methods of swarm control are analyzed. In the first case the swarm shape is achieved by virtual spring damper chain with analytically defined length of springs in rest. In the second case a numerical method is introduced allowing for forming any closed convex shape converted form picture to point cloud. The paper ends with numeric simulations for performance evaluation of proposed control method.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Balkacem, K., Foudil, C.: A virtual viscoelastic based aggregation model for self-organization of swarm robots system. In: TAROS 2016: Towards Autonomous Robotic Systems, pp. 202–213. Springer (2016)

    Google Scholar 

  2. Brambilla, M., Ferrante, E., Birattari, M., Dorigo, M.: Swarm robotics: a review from the swarm engineering perspective. Swarm Intell. 7, 1–41 (2013). https://doi.org/10.1007/s11721-012-0075-2

    Article  Google Scholar 

  3. Chen, Q., Veres, S.M., Wang, Y., Meng, Y.: Virtual spring, -damper mesh-based formation control for spacecraft swarms in potential fields. J. Guid. Control Dyn. 38(3), 539–546 (2015)

    Article  Google Scholar 

  4. Hendzel, Z., Wiech, J.: Robotic swarm self-organisation control. Acta Mech. Autom. 13(2), 130–134 (2019)

    Google Scholar 

  5. Nouyan, S., Campo, A., Dorigo, M.: Path formation in a robot swarm: self-organized strategies to find your way home. Swarm Intell. 2(1), 1–23 (2008)

    Article  Google Scholar 

  6. Reif, J.H., Wang, J.: Social potential fields: a distributed behavioral control for autonomous robots. Robot. Auton. Syst. 27(3), 171–194 (1999)

    Article  Google Scholar 

  7. Shucker, B., Bennett, J.K.: Virtual spring mesh algorithms for control of distributed robotic macrosensors. University of Colorado Boulder, Technical Report CU-CS-996-05 (2005)

    Google Scholar 

  8. Spears, W.M., Spears, D.F., Hamann, J.C., Heil, R.: Distributed, physics-based control of swarms of vehicles. Auton. Robot. 17(2–3), 137–162 (2004)

    Article  Google Scholar 

  9. Trianni, V., Groß, R., Labella, T.H., Şahin, E., Dorigo, M.: Evolving aggregation behaviors in a swarm of robots. In Lecture notes in Artificial Intelligence. Advances in Artificial Life: 7th European Conference—ECAL 2003, vol. 2801, pp. 865–874. Springer, Berlin (2003)

    Google Scholar 

  10. Urcola, P., Riazuelo, L., Lazaro, M., Montano, L.: Cooperative navigation using environment compliant robot formations. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, pp. 2789–2794. IEEE (2008)

    Google Scholar 

  11. Waibel, M., Keller, L., Floreano, D.: Genetic team composition and level of selection in the evolution of cooperation. IEEE Trans. Evol. Comput. 13(3), 648–660 (2009)

    Article  Google Scholar 

  12. Wiech, J., Eremeyev, V.A., Giorgio, I.: Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following. Continuum Mech. Thermodyn. 30, 1091–1102 (2018)

    Article  MathSciNet  Google Scholar 

  13. Wiech, J., Hendzel, Z.: Overhead vision system for testing swarms and groups of wheeled robots. J. Autom. Mob. Robot. Intell. Syst. 13(2), 15–22 (2019)

    Google Scholar 

  14. Mohan, Y., Ponnambalam, S.G.: An extensive review of research in swarm robotics. In: 2009 World Congress on Nature & Biologically Inspired Computing (NaBIC), Coimbatore, pp. 140–145 (2009)

    Google Scholar 

  15. Żylski, W.: Motion planning for wheeled mobile robot using potential field method. J. Theor. Appl. Mech. 42(3), 695–705 (2004)

    Google Scholar 

  16. Żylski, W., Giergiel, J.: Description of a mobile robot by Maggie’s equations. J. Theor. Appl. Mech. 43(3), 511–521 (2005)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Faculty of Applied Mechanics and Robotics, Rzeszow University of Technology, Rzeszów, Poland

    Jakub Wiech & Zenon Hendzel

Authors
  1. Jakub Wiech
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zenon Hendzel
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jakub Wiech .

Editor information

Editors and Affiliations

  1. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

Rights and permissions

Reprints and permissions

Copyright information

© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Wiech, J., Hendzel, Z. (2021). Robotic Swarm Shape Control Based on Virtual Viscoelastic Chain. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_20

Download citation

Publish with us

Policies and ethics

Search

Navigation