Abstract
When multiple robots perform a cooperative task that a single robot cannot solve with its capabilities, such as transportation or monitoring, the robot system achieves efficient operation by controlling a robot swarm with the density that is suitable for the task. For instance, the robot swarm requires high- and low-density structures for transporting heavy objects and monitoring a large area, respectively. Thus far, researchers have studied lattice-structure-based collective movement with regular organizations and amorphous-structure-based flocking behavior with irregular organizations. However, both control methods use a high-density swarm or aim for that state. In this study, we propose distance and angular potentials to control the filling density of robots based on regular tessellations and a collective movement method to maintain the latticed structure constructed by these potentials. This study demonstrates the collective movement of the robot swarm with lattice structures with different densities and quantitatively evaluates the structural changes caused by the movement.
Published Version
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