Controlling Swarms of Robots Using Interpolated Implicit Functions
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We address the synthesis of controllers for large groups of robots and sensors, tackling the specific problem of controlling a swarm of robots to generate patterns specified by implicit functions of the form s(x, y) = 0. We derive decentralized controllers that allow the robots to converge to a given curve S and spread along this curve. We consider implicit functions that are weighted sums of radial basis functions created by interpolating from a set of constraint points, which give us a high degree of control over the desired 2D curves. We describe the generation of simple plans for swarms of robots using these functions and illustrate.
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Suggested Citation: Chaimowicz, L., N. Michael and V. Kumar. (2005). Controlling Swarms of Robots Using Interpolated Implicit Functions. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain. April 2005. ©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.