Stability Analysis for Heterogeneous Swarm Robots with Limited Field of View
Stability Analysis for Heterogeneous Swarm Robots with Limited Field of View
复制标题
有限视场异构群体机器人稳定性分析
DOI：
10.1109/dese.2019.00015
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
F. Matsuno
中科院分区：
文献类型：
--
作者：
T. Endo;Ryuma Maeda;F. Matsuno
在本文中，我们解决了稳定性分析的速度和加速度的异质能力的群体机器人。每个机器人也有一个独特的传感区域，具有有限的视角。我们以前提出了一个分散的导航方法，这样的群体机器人。通过该方法，在满足每个机器人所特有的物理限制的同时实现了连接性维护。在这里，我们专注于整个群体的形状和数学证明，所有机器人的形状和方向最终收敛到平衡状态。此外，我们还展示了实验结果来证实收敛性。
In this paper, we address the stability analysis of swarm robots with heterogeneous abilities for velocity and acceleration. Each robot also has a unique sensing region with a limited angle of field of view. We previously proposed a decentralized navigation method for such swarm robots. With the method, connectivity maintenance is achieved while satisfying physical limitations which are unique to each robot. Here, we focus on the shape of the whole swarm and mathematically prove that the shape and orientations of all robots eventually converge to the equilibrium state. Furthermore, we show experimental results to confirm the convergence.
影响因子：
3.5
作者：
M. Yoshimoto;T. Endo;Ryuma Maeda;F. Matsuno
通讯作者：
M. Yoshimoto;T. Endo;Ryuma Maeda;F. Matsuno