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Flocking for Heterogeneous Robot Swarms: A Military Convoy Scenario

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2 Author(s)
McCook, C.J.R. ; United States Naval Acad., Annapolis, MD ; Esposito, J.M.

In this paper we apply a popular flocking control algorithm to a heterogeneous swarm of robots. The flocking controller contains separation, cohesion and velocity matching terms and has been shown to converge properly in the case of homogeneous swarms. The swarm models a military convoy unit with supply vehicles, defenders, and attackers. Each class of vehicle possesses different maneuvering capabilities and different objectives. In each case we modify the controller accordingly and analyze the emergent behavior of the swarm.

Published in:

System Theory, 2007. SSST '07. Thirty-Ninth Southeastern Symposium on

Date of Conference:

4-6 March 2007