Flocking for heterogeneous robot swarms: A military convoy scenario
CJR McCook, JM Esposito - 2007 Thirty-Ninth Southeastern …, 2007 - ieeexplore.ieee.org
CJR McCook, JM Esposito
2007 Thirty-Ninth Southeastern Symposium on System Theory, 2007•ieeexplore.ieee.orgIn this paper we apply a popular flocking control algorithm to a heterogeneous swarm of
robots. The flocking controller contains separation, cohesion and velocity matching terms
and has been shown to converge properly in the case of homogeneous swarms. The swarm
models a military convoy unit with supply vehicles, defenders, and attackers. Each class of
vehicle possesses different maneuvering capabilities and different objectives. In each case
we modify the controller accordingly and analyze the emergent behavior of the swarm.
robots. The flocking controller contains separation, cohesion and velocity matching terms
and has been shown to converge properly in the case of homogeneous swarms. The swarm
models a military convoy unit with supply vehicles, defenders, and attackers. Each class of
vehicle possesses different maneuvering capabilities and different objectives. In each case
we modify the controller accordingly and analyze the emergent behavior of the swarm.
In this paper we apply a popular flocking control algorithm to a heterogeneous swarm of robots. The flocking controller contains separation, cohesion and velocity matching terms and has been shown to converge properly in the case of homogeneous swarms. The swarm models a military convoy unit with supply vehicles, defenders, and attackers. Each class of vehicle possesses different maneuvering capabilities and different objectives. In each case we modify the controller accordingly and analyze the emergent behavior of the swarm.
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