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Introducing shell formation and a thermodynamics-inspired concept for swarm robotic systems

Parrany, A. M ; Sharif University of Technology | 2022

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  1. Type of Document: Article
  2. DOI: 10.1016/j.robot.2021.103939
  3. Publisher: Elsevier B.V , 2022
  4. Abstract:
  5. In this article, a new formation for swarm robotic systems is introduced. This formation, which is made up of a portion of swarm members and encircles the whole swarm, is called the shell formation. In this regard, an effective algorithm for developing the shell formation in swarm robotic systems is established. The interaction mechanism among swarm agents is based on the method of artificial potential fields and the local rule of the nearest neighbor. Subsequently, inspired by the thermodynamic science and based on the introduced shell formation, the thermodynamic concept of pressure is generalized to swarm robotic systems. Finally, the efficacy of the introduced shell formation in solving the problem of passing through a narrow passage is studied via numerical simulations. © 2021 Elsevier B.V
  6. Keywords:
  7. Robotics ; Shells (structures) ; Swarm intelligence ; Effective algorithms ; Interaction mechanisms ; Passing through a narrow passage ; Shell formation ; Swarm agents ; Swarm members ; Swarm pressure ; Swarm robotic systems ; Swarm robotics ; Thermodynamic viewpoint ; Thermodynamics
  8. Source: Robotics and Autonomous Systems ; Volume 148 , 2022 ; 09218890 (ISSN)
  9. URL: https://www.sciencedirect.com/science/article/abs/pii/S0921889021002190