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Talk · International Conference on Informatics, Electronics & Vision · August 26, 2020

Simulation of Pattern Formation of Swarm withMinimum Shape Parameters

Md. Tahmeed Abdullah, Md. Jubair Ahmed Sourov, Sejuti Rahman, Sujan Chandra Sarker

Sejuti Rahman
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Abstract

The topic of initializing and controlling the formation of robots in a multi-agent system has become a core swarm robotics research problem as formation control is very useful for cooperative tasks. In this paper we propose a hybrid method for formation control of non-holonomic mobile robots fusing controller behaviours with virtual structure. The proposed method is ideal for applications like search and rescue operations. The method is tested and evaluated in some simulation experiments and it proved to perform better for random shapes as well as polygonal shapes and convex hulls than behaviour based approaches and it was observed that converging time is independent of the shape complexity. The method also provides an easy method to design new pattern shapes. The results show that the proposed method improves in accuracy, formation controlling mechanism, applicability and variation of shapes.

Distributed Control Multi-Agent SystemsModular Robots and Swarm IntelligenceControl and Dynamics of Mobile Robotsswarm roboticsformation controlmulti-agent systems

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