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

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.
Proc.
147
152
R. Falconi; C. Melchiorri
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/70359
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