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Title: Task-based flocking algorithm for mobile robot cooperation
Authors: He, H.
Ge, S.S. 
Tong, G.
Issue Date: 2009
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.
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
ISBN: 3642039855
ISSN: 18650929
DOI: 10.1007/978-3-642-03986-7_37
Appears in Collections:Staff Publications

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