Abstract
This paper presents a stability analysis of swarm robots, a group of multiple robots. In particular, we focus on robot swarms with heterogeneous abilities, in which each robot has a different sensing range and physical limitations, including maximum velocity and acceleration. In addition, each robot has a unique sensing region with a limited angle field of view. We previously proposed a decentralized navigation method for such heterogeneous swarm robots consisting of one leader and multiple followers. With the decentralized navigation method, a single leader can navigate for followers while maintaining connectivity and satisfying the physical limitations unique to each robot; i.e., each follower has a target robot and follows it without violating its physical limitations. In this paper, we focus on a stability analysis of such swarm robots. When the leader moves at a constant velocity, we mathematically prove that the shape and orientations of all robots eventually converge to the equilibrium state. For this, we must first prove that the equilibrium state exists. Then, we show the convergence of the state to its equilibrium. Finally, we carry out experiments and numerical simulations to confirm the stability analysis, i.e., the convergence of the swarm robots to the equilibrium states.
Highlights
Swarm robots are a group of multiple robots that aim to achieve robust, scalable, and flexible coordinated collective behavior [1,2,3,4,5,6].For robot swarms, it is important to control the robots in a decentralized manner by utilizing locally available information for each robot, so that the system can deal with increases in the number of robots
We show that the shape of the whole swarm and orientation of all followers converge to the equilibrium state when the leader moves at a constant velocity
Theorem, 2. (Stability of the whole swarm): If the leader moves at a constant velocity, the control inputs (5)–(9) and (11) realize the following: the shape of the swarm and orientation of all followers converge to the equilibrium state, and the velocity consensus is achieved for all agents
Summary
Swarm robots are a group of multiple robots that aim to achieve robust, scalable, and flexible coordinated collective behavior [1,2,3,4,5,6].For robot swarms, it is important to control the robots in a decentralized manner by utilizing locally available information for each robot, so that the system can deal with increases in the number of robots. There are no studies about decentralized control methods for connectivity maintenance of a heterogeneous robotic swarm characterized by sensing distance, limited field of view, and maximum velocity and acceleration. We present the stability analysis of swarm robots with heterogeneous abilities for velocity and acceleration, and sensing region with a limited angle of view, and limited sensing distance.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
