Collision-Free Decentralised Density Feedback Control for Swarms

Abstract

Abstract This paper reports initial collision avoidance results regarding density-based feedback control for swarm robotics from our previous works. The method controls the density distribution of the agents via smooth velocity fields synthesised in a decentralised fashion. Local estimates of density around each agent are compared with the desired swarm density and the difference is fed to the density based feedback controller to generate the velocity commands to be tracked. The continuity of the resulting velocity field promotes smooth and organised behaviour, and as the mathematical analyses reveals, it facilitates collision-free trajectories for each agent.