In this paper a decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environment is presented. The proposed technique is based on the concept of Null Space Based behavioral approach to merge different swarm tasks. In particular, the algorithm focuses on the possibility of sharing sensors’ data in order to avoid obstacles that can be detected in the environment. The effectiveness of our approach is investigated by means of numerical simulations with different typology of environment.
A Decentralized Control Algorithm for Swarm Behavior and Obstacle Avoidance in Unknown Environments / R. Falconi; C. Melchiorri. - STAMPA. - 2:(2008), pp. 147-152. (Intervento presentato al convegno Second IFAC Workshop Navigation, Guidance and Control of Underwater Vehicles tenutosi a Killaloe, Ireland nel 8-10 April 2008).
A Decentralized Control Algorithm for Swarm Behavior and Obstacle Avoidance in Unknown Environments
FALCONI, RICCARDO;MELCHIORRI, CLAUDIO
2008
Abstract
In this paper a decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environment is presented. The proposed technique is based on the concept of Null Space Based behavioral approach to merge different swarm tasks. In particular, the algorithm focuses on the possibility of sharing sensors’ data in order to avoid obstacles that can be detected in the environment. The effectiveness of our approach is investigated by means of numerical simulations with different typology of environment.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
