Abstract
Swarm robotics is a new and promising approach to the design and control of multiagent robotic systems. In this paper we use a model for a second order non-linear
system of self-propelled agents interacting via pair-wise attractive and repulsive potentials. We propose a new potential field method using dynamic agent internal states
to successfully solve a reactive path-planning problem. The path planning problem cannot be solved using static potential fields due to local minima formation, but can be
solved by allowing the agent internal states to manipulate the potential field. Simulation results demonstrate the ability of a single agent to perform reactive problem solving effectively, as well as the ability of a swarm of agents to perform problem solving using the collective behaviour of the entire swarm.
Original language | English |
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Number of pages | 14 |
Publication status | Published - May 2007 |
Event | 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12 - Cairo, Egypt Duration: 29 May 2007 → 31 May 2007 |
Conference
Conference | 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12 |
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City | Cairo, Egypt |
Period | 29/05/07 → 31/05/07 |
Keywords
- robotics
- swarm behaviour
- internal agent dynamics
- social potential field