Abstract
This paper presents a real robotic swarm system deployed on a circuit. Each agent has constant speed and is able to detect a frontal crash, switching its direction with a given turning-back probability. Physical and logical description of the autonomous system is provided, and both a real testing and numerical experiments are presented, investigating convergence and times. Accordingly, a mathematical model assures also analytically the convergence of the swarming system to a consensus configuration, where all the robots drive with the same orientation along the closed circuit.
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Borra, D., Borean, C., Fagnani, F., Giannantonio, R., Tingting, C. (2015). Distributed Consensus Agreement of a Real Swarm Robotic System. In: Filev, D., et al. Intelligent Systems'2014. Advances in Intelligent Systems and Computing, vol 323. Springer, Cham. https://doi.org/10.1007/978-3-319-11310-4_14
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DOI: https://doi.org/10.1007/978-3-319-11310-4_14
Publisher Name: Springer, Cham
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