Mabrouk, Mohamed M. and McInnes, C.R. (2007) Swarm robot social potential fields with internal agent dynamics. In: 12th International Conference on Aerospace Sciences and Aviation Technology, ASAT-12, 2007-05-29 - 2007-05-31.
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Swarm robotics is a new and promising approach to the design and control of multiagent robotic systems. In this paper we use a model for a second order non-linear system of self-propelled agents interacting via pair-wise attractive and repulsive potentials. We propose a new potential field method using dynamic agent internal states to successfully solve a reactive path-planning problem. The path planning problem cannot be solved using static potential fields due to local minima formation, but can be solved by allowing the agent internal states to manipulate the potential field. Simulation results demonstrate the ability of a single agent to perform reactive problem solving effectively, as well as the ability of a swarm of agents to perform problem solving using the collective behaviour of the entire swarm.
|Item type:||Conference or Workshop Item (Paper)|
|Keywords:||robotics, swarm behaviour, internal agent dynamics, social potential field, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics|
|Subjects:||Technology > Mechanical engineering and machinery
Technology > Motor vehicles. Aeronautics. Astronautics
|Department:||Faculty of Engineering > Mechanical and Aerospace Engineering|
|Depositing user:||Strathprints Administrator|
|Date Deposited:||06 Apr 2009 15:25|
|Last modified:||12 Aug 2016 10:33|