Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes (2404.02265v1)
Abstract: Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent of onboard energy constraints such as batteries. Robots generate a path through a shape such that robots cycle in and out of the shape. Robots inside the shape react to human initiated changes and adapt the path through the shape accordingly. Robots outside the shape recharge and return to the shape so that the shape can persist indefinitely. The presented algorithms communicate shape changes throughout the swarm using message passing and robot motion. These algorithms enable the swarm to persist through any arbitrary changes to the shape. We describe these algorithms in detail and present their performance in simulation and on a swarm of mobile robots. The result is a swarm behavior more suitable for extended duration, dynamic shape-based tasks in applications such as agriculture and emergency response.
- Andrew G Curtis “Autonomous 3D Position Control for a Safe Single Motor Micro Aerial Vehicle” In IEEE RA-L, 2023
- “Shape Formation in Homogeneous Swarms Using Local Task Swapping” In IEEE T-RO 36 Institute of ElectricalElectronics Engineers Inc., 2020, pp. 597–612
- “A multi-robot pattern formation algorithm based on distributed swarm intelligence” In IEEE ICCSEA 1, 2010, pp. 71–75
- “Formation control numerical simulations of geometric patterns for unmanned autonomous vehicles with swarm dynamical methodologies” In IEEE International Conference on Measuring Technology and Mechatronics Automation, 2009
- Jia Wu “Distributed UAV swarm formation and collision avoidance strategies over fixed and switching topologies” In IEEE Transactions on Cybernetics, 2021
- Yuyi Liu “A distributed control approach to formation balancing and maneuvering of multiple multirotor UAVs” In IEEE T-RO, 2018
- Miguel Aranda “Distributed formation stabilization using relative position measurements in local coordinates” In IEEE Transactions on Automatic Control, 2016
- “Generating Goal Configurations for Scalable Shape Formation in Robotic Swarms” In DARS, 2021 Springer
- Xiwang Dong “Time-varying formation control for unmanned aerial vehicles: Theories and applications” In IEEE Transactions on Control Systems Technology, 2014
- Yang Xu “Concurrent optimal trajectory planning for indoor quadrotor formation switching” In Journal of Intelligent & Robotic Systems Springer, 2019
- Tauã M. Cabreira, Lisane B. Brisolara and R.Ferreira Paulo “Survey on coverage path planning with unmanned aerial vehicles” In Drones 3 MDPI AG, 2019, pp. 1–38
- Yu-Song Jiao “Research on the coverage path planning of uavs for polygon areas” In IEEE ICIEA, 2010
- Wesley H Huang “Optimal line-sweep-based decompositions for coverage algorithms” In IEEE ICRA, 2001
- Marina Torres “Coverage path planning with unmanned aerial vehicles for 3D terrain reconstruction” In Expert Systems with Applications 55 Elsevier, 2016, pp. 441–451
- Carmelo Di Franco and Giorgio Buttazzo “Coverage path planning for UAVs photogrammetry with energy and resolution constraints” In Journal of Intelligent & Robotic Systems Springer, 2016
- Tauã M. Cabreira “Energy-Aware Spiral Coverage Path Planning for UAV Photogrammetric Applications” In IEEE RA-L, 2018
- Dario Albani, Daniele Nardi and Vito Trianni “Field Coverage and Weed Mapping by UAV Swarms”, 2017
- “Waypoint Planning Algorithm Using Cost Functions for Surveillance” In IJASS The Korean Society for Aeronautical & Space Sciences, 2010
- “Insect pheromone strategy for the robots coordination—reaction on loss communication” In IEEE CINTI, 2014
- M.R. Garey, D.S. Johnson and R.Endre Tarjan “The Planar Hamiltonian Circuit Problem is NP-Complete” In SIAM Journal on Computing, 1976
- “Hamiltonian cycles in solid grid graphs” In Proceedings 38th Annual Symposium on Foundations of Computer Science, 1997
- Rahnuma Islam Nishat “Reconfiguration of Hamiltonian cycles and paths in grid graphs”, 2020
- Kenneth C Cheung “Programmable assembly with universally foldable strings (moteins)” In IEEE T-RO, 2011
- Anant A Joshi, Maulik C Bhatt and Arpita Sinha “Modification of Hilbert’s space-filling curve to avoid obstacles: a robotic path-planning strategy” In 2019 Sixth Indian Control Conference IEEE
- Seyed Abbas Sadat, Jens Wawerla and Richard Vaughan “Fractal trajectories for online non-uniform aerial coverage” In IEEE ICRA, 2015
- Andreas Kolling “Human interaction with robot swarms: A survey” In IEEE Transactions on Human-Machine Systems IEEE, 2015
- Alessandro Giusti “Human-swarm interaction through distributed cooperative gesture recognition” In Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction, 2012
- Jawad Nagi “Human-swarm interaction using spatial gestures” In IEEE IROS, 2014