CONTROL OF SWARMING ROBOTS

摘要

Systems and methods for controlling a swarm of mobile robots are disclosed. In one aspect, the robots cover a domain of interest. Each robot receives a density function indicative of at least one area of importance in the domain of interest, and calculates a velocity vector based on the density function and a displace vector relative to an adjacent robot. Each robot moves to the area of importance according to its velocity vector. In some aspects, the robots together perform a sequence of formations. Each robot mimics a trajectory as part of its performance by switching among a plurality of motion modes. Each robot determines its next motion mode based on a displacement vector relative to an adjacent robot.