In this paper a decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environments is presented. The proposed technique is based on 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 environments.
Decentralized Control for Robot Teams in Unknown Environments
FALCONI, RICCARDO;MELCHIORRI, CLAUDIO
2009
Abstract
In this paper a decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environments is presented. The proposed technique is based on 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 environments.File in questo prodotto:
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