Abstract
This paper presents an approach to swarm split and rejoin maneuvers of a system of multi-robots formations. A post split formation is split into low-degree sub-swarms when the swarm encounters an obstacle. The sub-swarms reestablish links with other sub-swarms and converge into its pre-split formation after avoiding collisions with the obstacles. The leader-follower control strategy is used for maintaining formation shape in the sub-swarms. A set of artificial potential field functions is proposed for avoiding inter-robot, inter-formation and obstacle collisions and attraction to their designated targets. The Direct Method of Lyapunov is then used to establish stability of the given system. The effectiveness of the proposed nonlinear acceleration control laws is demonstrated through a computer simulation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Qu, Z.: Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles. Springer, London (2009)
Chen, Z., Chiu, T., Zhang, J.: Swarm splitting and multiple targets seeking in multi-agent dynamic systems. In: 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, pp. 4577–4582 (2010)
Moshtagh, N., Michael, N., Jadbabaie, A.: Vision-based distribution control laws for motion coordination of nonholonomic robots. IEEE Trans. Rob. 25(4), 851–860 (2009)
Reynolds, C.W.: Flocks, herds and schools: a distributed behavioral model in computer graphics. In: 14th Annual Conference on Computer Graphics and Interactive Techniques, New York, USA, pp. 25–34 (1987)
Raghuwaiya, K., Sharma, B., Vanualailai, J.: Cooperative control of multi robot systems with a low-degree formation. In: Sulaiman, H.A., Othman, M.A., Othman, M.F.I., Rahim, Y.A., Pee, N.C. (eds.) Advanced Computer and Communication Engineering Technology. LNEE, vol. 362, pp. 233–249. Springer, Switzerland (2015)
Sharma, B.: New Directions in the Applications of the Lyapunov-based Control Scheme to the Findpath Problem, Ph.D. thesis, Fiji Islands (2008)
Brockett, R.W.: Asymtptotic stability and feedback stabilization. In: Brockett, R.W., Millman, R.S., Sussmann, H. (eds.) Differential Geometry Control Theory. Springer (1983)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Raghuwaiya, K., Vanualailai, J., Sharma, B. (2016). Formation Splitting and Merging. In: Tan, Y., Shi, Y., Li, L. (eds) Advances in Swarm Intelligence. ICSI 2016. Lecture Notes in Computer Science(), vol 9713. Springer, Cham. https://doi.org/10.1007/978-3-319-41009-8_50
Download citation
DOI: https://doi.org/10.1007/978-3-319-41009-8_50
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-41008-1
Online ISBN: 978-3-319-41009-8
eBook Packages: Computer ScienceComputer Science (R0)