Collective motion and formation of simple interacting robots

Ken Sugawara, Yoshinori Hayakawa, Hiroumi Tanigawa, Tsuyoshi Mizuguchi, Kazuhiro Kosuge, Masaki Sano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    This paper reports collective behaviors of multi-robot system with simple dynamics and interactions. The model for collective motion is described by fundamental kinetics and the dynamics of the heading which each element has as a degree of freedom. Firstly, we shows the system based on this model realizes various types of behavior according to the set of parameters in the model, which resembles to the behavior of livings such as fish, birds and small insects. Next, we refer to the behavior of the modified model improving the anisotropy of the interaction force. Especially, we discuss the characteristic of linear formation which is obtained by modifying the term of optimal distance between neighbors. Performance of the model is examined by both computer simulation and robot experiments.

    Original languageEnglish
    Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    Pages1062-1067
    Number of pages6
    DOIs
    Publication statusPublished - 2006 Dec 1
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
    Duration: 2006 Oct 92006 Oct 15

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    CountryChina
    CityBeijing
    Period06/10/906/10/15

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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