Swarm aggregation using emotional learning based intelligent controller

Etemadi, S ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1109/ISMA.2009.5164827
  3. Publisher: 2009
  4. Abstract:
  5. In this paper, we consider a control strategy of multi-robot systems, or simply, swarms, based on emotional control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, motion of every swarm member is governed by predefined inter-individual interactions. Limitations of every member's field of view are also considered in that model. After that, we consider a general model for vehicle dynamics of each swarm member, and use emotional control theory to force their motion to obey the dynamics of the kinematic model. Based on the kinematic model, stability (cohesion) analysis is performed and coordination controller is designed. In this context, the results serve as a possible implementation method for practical swarms with given vehicle dynamics. It is also considered that field of view of all members is limited. Every swarm member accesses its local information; which is the most important characteristic of this work. © 2009 IEEE
  6. Keywords:
  7. Control strategies ; Coordination controllers ; Emotional control ; Emotional learning ; Field of views ; General model ; Implementation methods ; Intelligent controllers ; Inter-individual interactions ; Kinematic model ; Local information ; Multi-robot systems ; N-dimensional space ; Swarm members ; Swarm model ; Vehicle dynamics ; Control theory ; Controllers ; Mechatronics ; Multipurpose robots ; Kinematics
  8. Source: 2009 6th International Symposium on Mechatronics and its Applications, ISMA 2009, Sharjah, 23 March 2009 through 26 March 2009 ; 2009 ; 9781424434817 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/5164827