Coherent Swarming from Local Interaction by Exploiting Molecular Dynamics and Stokesian Dynamics Methods

Masahiro Shimizu, Toshihiro Kawakatsu, Akio Ishiguro, Yuichi Masubuchi, Masao Doi

研究成果: Paper査読

18 被引用数 (Scopus)

抄録

This paper discusses a fully decentralized algorithm able to create a coherent swarm of autonomous mobile robots from the viewpoint of "computational physics". To this end, we particularly focus on the "Molecular Dynamics method" and the "Stokesian Dynamics method", both of which are widely used to investigate multi-body systems. To verify the feasibility of our approach, this idea has been implemented to a swarm of 2-D radio-connected autonomous mobile robots as a practical example. Simulation results indicate that the proposed algorithm can control the shape of the swarm appropriately according to the current situation without losing the coherence of the swarm nor exchanging any global information among the modules. Furthermore, we have found that the local interaction which is used to exploit Stokesian Dynamics plays an essential role in order to maintain the coherence of the swarm particularly under an unstructured environment.

本文言語English
ページ1614-1619
ページ数6
出版ステータスPublished - 2003 12 26
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10 272003 10 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

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

フィンガープリント 「Coherent Swarming from Local Interaction by Exploiting Molecular Dynamics and Stokesian Dynamics Methods」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル