Vinicius Graciano Santos

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Safe and efficient navigation of robotic swarms is an important research problem. One of the main challenges in this area is to avoid congestion, which usually happens when large groups of robots share the same environment. In this paper, we propose the use of hierarchical abstractions in conjunction with simple traffic control rules based on virtual forces(More)
This paper presents a novel approach to swarm navigation that combines hierarchical abstractions, flocking behaviors, and an efficient collision avoidance mechanism. Our main objective is to keep large groups of robots segregated while safely navigating in a shared environment. For this, we propose the Virtual Group Velocity Obstacle, which is an extension(More)
Several natural systems adopt self-sorting mechanisms based on segregative behaviors. Among these, cell segregation is of particular interest since it plays an important role in the formation of tissues, organs, and living organisms. The Differential Adhesion Hypothesis states that cells naturally segregate because of differences in affinity, which lead(More)
— A robotic swarm consists of a system formed by multiple robots that usually work cooperatively to perform a certain task. One important research topic in this area is navigation. Traditional approaches use planners that exploit the individual configuration space of each agent, generally causing problems in group behavior, such as lack of consistency and(More)
This work proposes to model a robotic swarm using a hierarchical abstraction that reduces the dimensionality of the planning and control problem. Thus, it is possible to use it in order to solve the path planning problem by exploring its configuration space, which is independent of the number of robots. We perform simulated and real experiments. Results(More)
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