Dynamic compound shape control of robot swarm

• Main Authors: Hou, S. P., Cheah, Chien Chern
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/107137; http://hdl.handle.net/10220/16664; http://dx.doi.org/10.1049/iet-cta.2011.0115
• Institution: Nanyang Technological University

This study presents a dynamic compound shape control for a swarm of robots. A new definition of dynamic potential energy associated with the desired compound shape, which is the union of various basic shapes, is presented. Each basic shape is specified by the corresponding inequality functions. With...