Log In Sign Up

Line Marching Algorithm For Planar Kinematic Swarm Robots: A Dynamic Leader-Follower Approach

by   He Cai, et al.

Most of the existing formation algorithms for multiagent systems are fully label-specified, i.e., the desired position for each agent in the formation is uniquely determined by its label, which would inevitably make the formation algorithms vulnerable to agent failures. To address this issue, in this paper, we propose a dynamic leader-follower approach to solving the line marching problem for a swarm of planar kinematic robots. In contrast to the existing results, the desired positions for the robots in the line are not fully label-specified, but determined in a dynamic way according to the current state of the robot swarm. By constantly forming a chain of leader-follower pairs, exact formation can be achieved by pairwise leader-following tracking. Since the order of the chain of leader-follower pairs is constantly updated, the proposed algorithm shows strong robustness against robot failures. Comprehensive numerical results are provided to evaluate the performance of the proposed algorithm.


page 1

page 2

page 3

page 4


Dispersion and Line Formation in Artificial Swarm Intelligence

One of the major motifs in collective or swarm intelligence is that, eve...

Leaderless Swarm Formation Control: From Global Specifications to Local Control Laws

This paper introduces a distributed leaderless swarm formation control f...

Dynamic consensus with prescribed convergence time for multi-leader formation tracking

This work addresses the problem of distributed formation tracking for a ...

A Swarm of Simple Robots Constructing Planar Shapes

We present a new version of our previously proposed algorithm enabling a...

UAV Formation Preservation for Target Tracking Applications

This paper presents a collaborative target tracking application with mul...

An Adversarial Approach to Private Flocking in Mobile Robot Teams

Privacy is an important facet of defence against adversaries. In this le...