首页|Distributed swarm control for multi-robot systems inspired by shepherding behaviors

Distributed swarm control for multi-robot systems inspired by shepherding behaviors

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Swarming behaviors play an eminent role in both biological and engineering research,and show great potential applications in many emerging fields.Traditional swarming models still lack integrity,uniformity,and stability in swarm forming processes,resulting in fragmentation and void phenomena.Inspired by the shepherding behaviors observed in nature,we propose an inte-grated negotiation-control scheme for distributed swarm control of massive robots.The core idea of this scheme is that the robots at the boundary of the group herd the internal robots to form an equilibrium swarm.For this purpose,we introduce a concept of virtual group center towards which boundary robots herd intemal robots.Then,a distributed negotiation mechanism is designed to allow each robot to negotiate the virtual group center only through local interactions with its neighbors.After that,we propose a shepherding-inspired swarm control law to drive a group of robots to form an integrated,uniform,and stable configuration from any initial states.Both numerical and flight simulations are presented to verify the effectiveness of our proposed swarm control scheme.

swarm controlmulti-robot systemnegotiation-control schemeshepherding behavior

SUN GuiBin、GU HaiBo、Lü JinHu

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School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

Zhongguancun Laboratory,Beijing 100094,China

National Key R&D Program of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaChina Postdoctoral Science FoundationPostdoctoral Fellows of Beihang"Zhuoyue"Program

2022YFB3305600Grant Nos.62103015621416042023M740185

2024

10.1007/s11431-023-2651-6

中国科学:技术科学(英文版)
中国科学院

中国科学:技术科学(英文版)

CSTPCDEI
影响因子：1.056
ISSN：1674-7321
年,卷(期)：2024.(7)
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