Cooperative movement of human and swarm robot maintaining stability of swarm

This paper proposes a method that a human and a swarm robot move cooperatively so as to maintain the swarm situation that the swarm robot surround the moving human. This paper is concerned with the control for maintaining the high stability of the swarm, and proposes a control algorithm for the robotic swarm in obstacle space. In this paper, the robotic swarm which includes whole robots is defined as a whole swarm. In addition, each robot with neighboring robots forms a local swarm that overlapped the other ones partially, so a robot can belong to some local swarms. The proposed algorithm for overcoming above problems is based on the center of gravity of the local swarm which attracts the robot of it, and is applied to the omni-directional mobile robots. It is confirmed that the effectiveness about maintaing the stability of the swarm through simulations using ODE (Open Dynamics Engine).