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This work addresses the problem of radially segregating heterogeneous robotic swarms. Such swarms are those composed of different groups of robots. Motivated by autonomous aerial, wheeled, and underwater vehicles, we propose a controller for Dubins like robots, different from other works on segregation found in the literature. Our controller can drive the robots individually in a way that they converge to circles which are shared only by robots of the same group. We present a heuristics and a collision avoidance scheme in which the information required is mostly local. We present several simulations widely varying the number of robots per group and the number of groups in which segregation is always reached and collisions between robots are always avoided.
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This paper proposes a decentralized control strategy to reach segregation in heterogeneous robot swarms distributed in curves. The approach is based on a formation control algorithm applied to each robot and a heuristics to compute the distance between the groups, i.e. the distance from the beginning of the curve. We consider that robots can communicate through a fixed underlying topology and also when they are within a certain distance. A convergence proof with a collision avoidance strategy is presented. Simulations and experimental results show that our approach allows a swarm of multiple heterogeneous robots to segregate into groups. This work was supported by CAPES, CNPq and Fapemig
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Abstract - The focus of this study is to design individual control laws that segregate multiple groups of heterogeneous robots. Our approach is based on the use of abstractions to represent each group of robots and an artificial potential function to segregate the groups. Different from other works in the literature, we prove that with our controller the system will always converge to a state where robots of the same group will be together while separated from robots of different groups. We also propose a collision avoidance scheme which does not interfere in the segregation controller. Furthermore, our controller has a local property, meaning that the controller might not require global information of the whole swarm to converge to the segregated state. The approach is validated with simulations varying the number of robots and groups and an experiment with real robots.
This work was supported by CAPES, CNPq and Fapemig
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This article proposes a decentralized control strategy to reach radial segregation in heterogeneous robot swarms. It is considered the double integrator robot model in the two-dimensional case. The approach is based on a consensus algorithm applied to virtual points attached to each robot and a heuristics to compute the distance between the robots and the virtual point. Two scenarios are considered: when robots have access to a global reference point and when robots can communicate through a fixed underlying topology. A convergence proof is presented. Simulation results show that our approach allows a swarm of multiple heterogeneous robots to segregate radially using local information.
This work was supported by CAPES, CNPq and Fapemig
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Abstract - This paper addresses the problem of segregation of groups of heterogeneous units in robot swarms. We propose a controller that can drive robots in a way that each group composed of robots of a similar type will form clusters while maintaining segregation from other groups. The approach is based on abstractions created to represent each group of robots and an artificial potential function used to segregate the groups. Different from previous works on swarm segregation, we can mathematically guarantee that by using our approach the system will always converge to a state where multiple dissimilar groups are segregated. Moreover, in some situations, our controller does not require all robots to have information about all the other robots in the system. We demonstrate the effectiveness of our controller with simulations with different types of robots and varying number of robots and groups.
This work was supported by CAPES, CNPq and Fapemig
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Abstract — This article proposes a control strategy to reach segregation in robot swarms using abstractions. It’s considered the single integrator robot model in the two dimensional case. The approach is based on abstractions created to represent each group of robots and a controller inspired by artificial potential functions to segregate the groups. A convergence proof is presented and a collision avoidance strategy is also proposed. Experiments with real robots are also shown.
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Abstract - The development of new technologies in these days is changing the way people live. For this reason, putting together many of these technologies in a same project will be of great usefulness in the formation of engineers. The construction of a robot soccer team category IEEE very small size is presented demonstrating all the necessary parts in this development. The team consists of three robots with maximum dimension of a 7,5 centimeters cube. The robots are autonomous. Is used a camera to recognize the environment, a computer to plan the strategies and motors to make the robot move interacting with this environment. It was utilized technologies in the field areas of wireless networks, image processing, potential fields, Fuzzy logic, embedded systems and electric drive. It was made a bibliographical study of those technologies and of alternatives that were not used as well. The wireless network was made with the XBee® module, in the image processing was utilized the Adobe® Flash® platform, the embedded system utilized was the Arduino and its shields. Furthermore, there is an explanation of the game system covering all those tools working together.
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