This paper presents a practical and intuitive method for designing distributed controls for swarm robotics. Each individual robot follows a relatively simple control law. It is demonstrated that the robots will collectively achieve a locally stable swarm. It will also be shown that the robots will be able to avoid obstacles and then reconfigure the swarm. Simulation is used to demonstrate the performance of the technique.

Additional Metadata
Keywords Control, Stability, Swarm robotics
Conference 10th IASTED International Conference on Control and Applications, CA 2008
Citation
Schwartz, H.M, & Givigi, S.N. (Sidney N.). (2008). A practical approach to robotic swarms. In Proceedings of the 10th IASTED International Conference on Control and Applications, CA 2008 (pp. 7–11).