Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots

Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots

We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The state-of-the-art approaches generally require either local communicatio...

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Veröffentlicht in:arXiv.org 2024-04
Hauptverfasser: Sinhmar, Himani, Kress-Gazit, Hadas
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Algorithms
Control theory
Convergence
Decentralized control
Encapsulation
Robot control
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description We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The state-of-the-art approaches generally require either local communication or relative localization to provide guarantees of convergence and safety. We quantify trade-offs between task, control, and robot parameters for guaranteed safe convergence to all the sources. Furthermore, our algorithm is robust to occlusions and noise in the sensor measurements as we demonstrate in simulation.
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subjects Algorithms
Control theory
Convergence
Decentralized control
Encapsulation
Robot control
title Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots
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