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Pattern Formation

For a team to collaborate more effectively it is often beneficial for its members to assume a formation.  For example, a team of rescuers forming a line to quickly cover an area; a group of ploughs forming a wedge to level terrain. This project’s focus is on the development of bearing-only pattern formation algorithms which do not require robots to be uniquely identifiable to each other (i.e. they are anonymous). The use of anonymous, bearing-only inputs to the algorithm reduces the computational and sensory requirements of the robotic platform running the algorithm.

Live Trails:

DNS algorithm with 4 robots forming a line. The gamma angle is 100 degrees.

 

DNS algorithm with 4 robots forming a line. The gamma angle is 115 degrees.

 

DNS algorithm with 4 robots forming a line. The gamma angle is 135 degrees.

 

DNS algorithm with 4 robots forming a line. The gamma angle is 180 degrees.

 

DNS algorithm with 4 robots forming a wedge. The gamma angle is 100 degrees.

 

DNS algorithm with 4 robots forming a wedge. The gamma angle is 115 degrees.

 

DNS algorithm with 4 robots forming a wedge. The gamma angle is 135 degrees.

 

DNS algorithm with 4 robots forming a wedge. The gamma angle is 180 degrees.


Papers:

Shiell,; Vardy, (2016): A Bearing-Only Pattern Formation Algorithm for Swarm Robotics. In: Tenth International Conference on Swarm Intelligence (ANTS), (To Appear), 2016. (Type: Inproceeding | Links | BibTeX)