Abstract
We have proposed the Passive Field Dynamics method, an upgraded physics-based approach for formation control of robot swarm. Firstly, in this method, the force field generated by each individual in a swarm is not exerting forces on the neighboring individuals but is being moved by the existence of the neighbors. Secondly, each individual is no longer considered as a particle but as a rigid-body with the ability to rotate with its force field. Thirdly, the force field consists of not only attractive or repulsive forces but also non-radical forces to generate individuals’ rotation, and the force field is optimized by genetic algorithm. Experiments show that the Passive Field Dynamics method can achieve complicated swarm behavior pattern which can not be achieved using standard physics-based approaches.
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