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.

Control, Stability, Swarm robotics
10th IASTED International Conference on Control and Applications, CA 2008
Department of Systems and Computer Engineering

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).