Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Swarm of robots flocking via the null-space-based behavioral control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Antonelli, G. ; Dipt. di Autom., Elettromagnetismo, Ing. dell''Inf. e Mat. Ind., Univ. degli Studi di Cassino, Cassino, Italy ; Arrichiello, F. ; Chiaverini, S.

In this paper the problem of flocking together multiple robots is considered. The capability of grouping the robots is achieved resorting to a behavior-based approach, namely the Null-Space-based Behavioral (NSB) control. In this framework, the assigned mission is accomplished by defining very simple behaviors for each robot and properly arranging them in priority. In particular, flocking is pursued in a decentralized manner, i.e., the elementary behaviors of each robot are defined so they only need local information concerning robot's neighbors. To test the performance of the method, the flocking behavior is analyzed in different cases, namely, in presence of a static/moving rendezvous point, changing the size of the team and in presence/absence of measurement noise. Extensive simulations prove the effectiveness of the proposed technique.

Published in:

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Date of Conference:

5-7 Aug. 2009