Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version



Suggested Citation:
Chaimowicz, L., N. Michael and V. Kumar. (2005). Controlling Swarms of Robots Using Interpolated Implicit Functions. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain. April 2005.

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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.

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Date Posted: 12 October 2010

This document has been peer reviewed.