The paper presents a decentralized control algorithm for a swarm of minimalist robots (no memory, no self-localization, no direct communication, and inability to determine neighbors' relative locations) to encapsulate multiple diffusive target sources in a bounded environment.
The key highlights are:
The robots are equipped with omnidirectional sensors to detect the concentration of environmental signals from multiple sources (targets, robots, obstacles, and environment boundary).
The robots use a simplex gradient approach to estimate the direction towards the closest target without requiring information from neighbors or memory. This allows them to navigate towards the targets while maintaining safe distances from obstacles, other robots, and the environment boundary.
The robots can detect when they have entered the encapsulation ring of a target by analyzing the magnitude of the aggregate signal gradient and the expected gradient of a single target's signal. This allows them to switch to an encirclement behavior to ensure the target is encapsulated.
The authors provide theoretical guarantees for convergence and safety by deriving bounds on task, control, and robot parameters. They also analyze the robustness of the control algorithm to sensor noise, occlusions, and asynchronous execution.
Simulation results demonstrate the effectiveness of the approach in encapsulating multiple targets while maintaining safety, and the scalability of the algorithm to large-scale scenarios.
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by Himani Sinhm... klokken arxiv.org 05-01-2024
https://arxiv.org/pdf/2404.19138.pdfDypere Spørsmål