Swarm robot social potential fields with internal agent dynamics

M. H. Mabrouk, C.R. McInnes

Research output: Contribution to conferencePaper

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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 languageEnglish
Number of pages14
Publication statusPublished - May 2007
Event12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12 - Cairo, Egypt
Duration: 29 May 200731 May 2007

Conference

Conference12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12
CityCairo, Egypt
Period29/05/0731/05/07

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Robots
Motion planning
Robotics

Keywords

  • robotics
  • swarm behaviour
  • internal agent dynamics
  • social potential field

Cite this

Mabrouk, M. H., & McInnes, C. R. (2007). Swarm robot social potential fields with internal agent dynamics. Paper presented at 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12, Cairo, Egypt, .
Mabrouk, M. H. ; McInnes, C.R. / Swarm robot social potential fields with internal agent dynamics. Paper presented at 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12, Cairo, Egypt, .14 p.
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Mabrouk, MH & McInnes, CR 2007, 'Swarm robot social potential fields with internal agent dynamics', Paper presented at 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12, Cairo, Egypt, 29/05/07 - 31/05/07.

Swarm robot social potential fields with internal agent dynamics. / Mabrouk, M. H.; McInnes, C.R.

2007. Paper presented at 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12, Cairo, Egypt, .

Research output: Contribution to conferencePaper

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AU - McInnes, C.R.

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AB - 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.

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Mabrouk MH, McInnes CR. Swarm robot social potential fields with internal agent dynamics. 2007. Paper presented at 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12, Cairo, Egypt, .