Strathprints logo
Strathprints Home | Open Access | Browse | Search | User area | Copyright | Help | Library Home | SUPrimo

Swarm shape manipulation through connection control

Punzo, Giuliano and Bennet, Derek J. and Macdonald, M. (2010) Swarm shape manipulation through connection control. In: 12th Conference Towards Autonomous Robotic Systems 2011, 2011-08-31 - 2011-09-02, Sheffield.

[img]
Preview
PDF (Macdonald_M_-_strathprints_-_Swarm_shape_manipulation_through_connection_control_Aug_2010.pdf)
Download (302Kb) | Preview

    Abstract

    The control of a large swarm of distributed agents is a well known challenge within the study of unmanned autonomous systems. However, it also presents many new opportunities. The advantages of operating a swarm through distributed means has been assessed in the literature for efficiency from both operational and economical aspects; practically as the number of agents increases, distributed control is favoured over centralised control, as it can reduce agent computational costs and increase robustness on the swarm. Distributed architectures, however, can present the drawback of requiring knowledge of the whole swarm state, therefore limiting the scalability of the swarm. In this paper a strategy is presented to address the challenges of distributed architectures, changing the way in which the swarm shape is controlled and providing a step towards verifiable swarm behaviour, achieving new configurations, while saving communication and computation resources. Instead of applying change at agent level (e.g. modify its guidance law), the sensing of the agents is addressed to a portion of agents, differentially driving their behaviour. This strategy is applied for swarms controlled by artificial potential functions which would ordinarily require global knowledge and all-to-all interactions. Limiting the agents' knowledge is proposed for the first time in this work as a methodology rather than obstacle to obtain desired swarm behaviour.

    Item type: Conference or Workshop Item (Paper)
    ID code: 25835
    Keywords: Unmanned autonomous systems, distributed control, verifiable swarm behaviour, artificial potential functions, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Aerospace Engineering, Control and Systems Engineering, Control and Optimization
    Subjects: Technology > Mechanical engineering and machinery
    Technology > Motor vehicles. Aeronautics. Astronautics
    Department: Faculty of Engineering > Mechanical and Aerospace Engineering
    Related URLs:
    Depositing user: Ms Katrina May
    Date Deposited: 12 Jul 2010 15:24
    Last modified: 06 Sep 2014 23:42
    URI: http://strathprints.strath.ac.uk/id/eprint/25835

    Actions (login required)

    View Item

    Fulltext Downloads: