Skip to main content
SpringerLink
Log in

Individual recognition-free target enclosure model

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

Target enclosure by autonomous robots is useful for many practical applications, for example, surveillance of disaster sites. Scalability is important for autonomous robots because a larger group is more robust against breakdown, accidents, and failure. However, it is more difficult to operate a larger group of robots because their individual capacity for recognizing team-mates should be higher. In this paper, to achieve a highly scalable target enclosure model, we demonstrate a new condition for Takayama’s enclosure model. The original model requires a static relationship between agents. However, robots can form an enclosure even under a dynamic topology on the basis of a nearest neighbor graph; hence, they do not require recognition capability. We confirm this by an analytical discussion of switched systems and a series of computer simulations.

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

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. Takayama Y, Yamamoto S, Takimoto T (2008) Distributed formation control of a nonholonomic multi-agent system for target-enclosing operations. In: Proceedings of 9th SICE System Integration Division Annual Conference 2008, pp 679–680

  2. Yamaguchi H (2003) A cooperative hunting behavior by nonholonomic mobile robot troops.Trans. Jpn Soc Mech Eng C 69(688):3285–3292

    Google Scholar 

  3. Kobayashi Y, Otsubo K, Hosoe S (2007) Autonomous decentralized control of capturing behavior by multiple mobile robots. Trans Soc Instrum Control Eng 43(8):663–671

    Google Scholar 

  4. Kim T, Sugie T (2007) Cooperative control for target capturing task based on a cyclic pursuit strategy. Automatica 43:1426–1431

    Article  MathSciNet  MATH  Google Scholar 

  5. Masubuchi I, Zhai G (2008) Control of hybrid systems-V: analysis and control of switched systems. Systems Control Inform 52(1):25–31

    Google Scholar 

  6. Marshall JA, Brouvke ME, Francis BA (2004) Formations of vehicles in cyclic pursuit. IEEE Trans Autom Control 49(11):1963–1974

    Google Scholar 

  7. Olfati-Saber R (2006) Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans Autom Control 51(3):401–420

    Article  MathSciNet  Google Scholar 

  8. Olfati-Saber R, Fax JA, Murray RM (2007) Consensus and cooperation in networked multi-agent systems. Proc IEEE 95(1):215–233

    Article  Google Scholar 

  9. Atlee Jackson E (1995) Perspectives of Nonlinear Dynamics 1. Cambridge University Press

  10. Xu X, Zhai G (2005) Some results on practical asymptotic stabilizability of switched systems. In: 44th IEEE Conference on Decision and Control and European Control Conference 2005, CDC-ECC ’05, pp 3998–4003

Download references

Author information

Authors and Affiliations

  1. National Defense Academy of Japan, Yokosuka, Kanagawa, 239-8686, Japan

    Masao Kubo & Hiroshi Sato

  2. Japan Ground Self-Defense Force, Tokyo, 162-8801, Japan

    Tatsuro Yoshimura

  3. Fukuoka Institute of Technology, Fukuoka, 811-0295, Japan

    Akihiro Yamaguchi

Authors
  1. Masao Kubo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tatsuro Yoshimura
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Akihiro Yamaguchi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Hiroshi Sato
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Masao Kubo.

Additional information

This work was presented in part at the 17th International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 2012.

About this article

Cite this article

Kubo, M., Yoshimura, T., Yamaguchi, A. et al. Individual recognition-free target enclosure model. Artif Life Robotics 17, 11–16 (2012). https://doi.org/10.1007/s10015-012-0010-z

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-012-0010-z

Keywords

Search

Navigation