Self-organized swarm robot for multi-target trapping based on self-regulated density interaction
In swarm robotics, multi-target trapping usually relies on global information or explicit communication, posing a challenge for robots to autonomously self-organize and trap multiple targets with only local perceptual data. We present a self-regulated density-based approach for self-organized multi-...
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| Abstract | In swarm robotics, multi-target trapping usually relies on global information or explicit communication, posing a challenge for robots to autonomously self-organize and trap multiple targets with only local perceptual data. We present a self-regulated density-based approach for self-organized multi-target trapping. This method employs density-based negative feedback control and density-distance weighted target selection. Our approach leverages distributed perception, where robots perceive nearby peers within their sensory range, eliminating the need for explicit information exchange and enabling autonomous trapping. During task execution, negative feedback control adjusts swarm density, ensuring it reaches an optimal level. Building on this, individual robots use density fields and relative target positions to select suitable targets, achieving self-regulated dispersed selection and multi-target trapping. We validate our approach through numerical simulations and real-world robot experiments. Results demonstrate stable self-organization, efficient self-regulated dispersed target selection, and successful target trapping, even with a limited number of trapping robots in low-redundancy scenarios.
•Self-organizing robot swarms calculate density using adapted Smoothed Particle Hydrodynamics (SPH) smoothing functions.•Density-based negative feedback control for robot density, rather than distance-based attractive-repulsive interactions.•Robots autonomously select targets through self-organized, shape-free strategies. |
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| AbstractList | In swarm robotics, multi-target trapping usually relies on global information or explicit communication, posing a challenge for robots to autonomously self-organize and trap multiple targets with only local perceptual data. We present a self-regulated density-based approach for self-organized multi-target trapping. This method employs density-based negative feedback control and density-distance weighted target selection. Our approach leverages distributed perception, where robots perceive nearby peers within their sensory range, eliminating the need for explicit information exchange and enabling autonomous trapping. During task execution, negative feedback control adjusts swarm density, ensuring it reaches an optimal level. Building on this, individual robots use density fields and relative target positions to select suitable targets, achieving self-regulated dispersed selection and multi-target trapping. We validate our approach through numerical simulations and real-world robot experiments. Results demonstrate stable self-organization, efficient self-regulated dispersed target selection, and successful target trapping, even with a limited number of trapping robots in low-redundancy scenarios.
•Self-organizing robot swarms calculate density using adapted Smoothed Particle Hydrodynamics (SPH) smoothing functions.•Density-based negative feedback control for robot density, rather than distance-based attractive-repulsive interactions.•Robots autonomously select targets through self-organized, shape-free strategies. |
| ArticleNumber | 120119 |
| Author | Peng, Xingguang Lei, Xiaokang Tao, Yuan Zhou, Yuchen |
| Author_xml | – sequence: 1 givenname: Yuchen surname: Zhou fullname: Zhou, Yuchen organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, 710072, People's Republic of China – sequence: 2 givenname: Yuan surname: Tao fullname: Tao, Yuan organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, 710072, People's Republic of China – sequence: 3 givenname: Xiaokang surname: Lei fullname: Lei, Xiaokang organization: College of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, People's Republic of China – sequence: 4 givenname: Xingguang orcidid: 0000-0001-8483-5432 surname: Peng fullname: Peng, Xingguang email: pxg@nwpu.edu.cn organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, 710072, People's Republic of China |
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| Keywords | Self-organized trapping Multi-target trapping Swarm robots Density-based interaction Distributed robot systems |
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