Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866929331577552896 |
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| author | Sinhmar, Himani Kress-Gazit, Hadas |
| author_facet | Sinhmar, Himani Kress-Gazit, Hadas |
| contents | We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The state-of-the-art approaches generally require either local communication or relative localization to provide guarantees of convergence and safety. We quantify trade-offs between task, control, and robot parameters for guaranteed safe convergence to all the sources. Furthermore, our algorithm is robust to occlusions and noise in the sensor measurements as we demonstrate in simulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_19138 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots Sinhmar, Himani Kress-Gazit, Hadas Robotics We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The state-of-the-art approaches generally require either local communication or relative localization to provide guarantees of convergence and safety. We quantify trade-offs between task, control, and robot parameters for guaranteed safe convergence to all the sources. Furthermore, our algorithm is robust to occlusions and noise in the sensor measurements as we demonstrate in simulation. |
| title | Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.19138 |