Decentralized self-selection of swarm trajectories: from dynamical systems theory to robotic implementation

@article{Sartoretti2014DecentralizedSO,
  title={Decentralized self-selection of swarm trajectories: from dynamical systems theory to robotic implementation},
  author={Guillaume Sartoretti and Max-Olivier Hongler and Marcelo Elias de Oliveira and Francesco Mondada},
  journal={Swarm Intelligence},
  year={2014},
  volume={8},
  pages={329-351}
}
In this paper, we present a distributed control strategy, enabling agents to converge onto and travel along a consensually selected curve among a class of closed planar curves. Individual agents identify the number of neighbors within a finite circular sensing range and obtain information from their neighbors through local communication. The information is then processed to update the control parameters and force the swarm to converge onto and circulate along the aforementioned planar curve… CONTINUE READING
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