ArticleScientific reports2024
A distributed control strategy for groups of robots with application in flocking.
Article in Scientific reports, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
This paper presents a distributed control strategy, named Triangle Formation (TF) algorithm, for a group of robots. The algorithm is based on a geometric approach and enables three neighboring robots to form an Equilateral Triangular Configuration (ETC). The TF algorithm is scalable since it is developed for a large group of robots by using a neighbor selection technique. To achieve obstacle avoidance by group, the algorithm is enhanced further by introducing an artificial physics model. A series of simulation studies have been conducted to observe the performance and the effectiveness of the TF algorithm. These empirical results show that group flocking with multi-ETC network in an unknown environment can be realized with the TF algorithm successfully.
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