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We address the synthesis of controllers for large groups of robots and sensors, tackling the specific problem of controlling a swarm of robots to generate patterns specified by implicit functions of the form s(x, y) = 0. We derive decentralized controllers that allow the robots to converge to a given curve S and spread along this curve. We consider implicit functions that are weighted sums of radial basis functions created by interpolating from a set of constraint points, which give us a high degree of control over the desired 2D curves. We describe the generation of simple plans for swarms of robots using these functions and illustrate.
Luiz Chaimowicz, Nathan D. Michael, and Vijay Kumar, "Controlling Swarms of Robots Using Interpolated Implicit Functions", . April 2005.
Date Posted: 12 October 2010
This document has been peer reviewed.