Fall in! Sorting a Group of Robots with a Continuous Controller
@article{Litus2010FallIS,
title={Fall in! Sorting a Group of Robots with a Continuous Controller},
author={Yaroslav Litus and Richard T. Vaughan},
journal={2010 Canadian Conference on Computer and Robot Vision},
year={2010},
pages={269-276}
}This paper describes the first robotic system that solves a combinatorial computational problem by means of its own continuous dynamics. The goal of the system is to rearrange a set of robots on a line in a certain predefined order, thereby sorting them. Conventional pairwise between-robot rank comparisons suggested by traditional discrete state sorting algorithms are avoided by coupling robots in a Brockett double bracket flow system. A conventional multi-robot simulation with non-holonomic…
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