Please use this identifier to cite or link to this item:
|Title:||Task-based flocking algorithm for mobile robot cooperation|
|Citation:||He, H.,Ge, S.S.,Tong, G. (2009). Task-based flocking algorithm for mobile robot cooperation. Communications in Computer and Information Science 44 CCIS : 310-321. ScholarBank@NUS Repository. https://doi.org/10.1007/978-3-642-03986-7_37|
|Abstract:||In this paper, one task-based flocking algorithm that coordinates a swarm of robots is presented and evaluated based on the standard simulation platform. Task-based flocking algorithm(TFA) is an effective framework for mobile robots cooperation. Flocking behaviors are integrated into the cooperation of the multi-robot system to organize a robot team to achieve a common goal. The goal of the whole team is obtained through the collaboration of the individual robot's task. The flocking model is presented, and the flocking energy function is defined based on that model to analyze the stability of the flocking and the task switching criterion. The simulation study is conducted in a five-versus-five soccer game, where the each robot dynamically selects its task in accordance with status and the whole robot team behaves as a flocking. Through simulation results and experiments, it is proved that the task-based flocking algorithm can effectively coordinate and control the robot flock to achieve the goal. © 2009 Springer-Verlag.|
|Source Title:||Communications in Computer and Information Science|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Aug 10, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.