Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States

Autor: Daisuke Kurabayashi, Yuki Origane
Rok vydání: 2022
Předmět:
Zdroj: Symmetry; Volume 14; Issue 8; Pages: 1578
ISSN: 2073-8994
DOI: 10.3390/sym14081578
Popis: For a robotic swarm system composed of autonomous mobile robots, controlling and using asymmetric global geometric states promotes the task performance of the swarm. This paper presents a systematic method for estimating asymmetric global geometric states over a swarm system. To overcome the limitations of local observation or communication ability, we propose a wave-type interaction among neighboring robots. We assume that each robot has a scalar state variable called a phase, which is manipulated through interactions. Through the analysis of eigenvalues of a graph Laplacian matrix corresponding to a local communication network of robots, we show that a robot can estimate global states, such as the size of an entire swarm, by frequency analysis of its phase. We also analyzed the stability of the wave-type interaction based on von-Neumann stability. We verified the proposed method by computer simulations, in which robots in a swarm detected the deformation in the shape of the swarm when the swarm was passing through a narrow area. The result will contribute to building a control system for swarms that can manipulate their shape or characteristics to adapt themselves based on tasks or environmental requirements.
Databáze: OpenAIRE
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