Faithin Omaha eBook Collection

Download or read book Distributed Algorithms for Consensus and Formation Control in Scalable Robotic Swarms written by Yang Liu and published by . This book was released on 2018 with total page 83 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents distributed consensus algorithms and formation control methods for a swarm of primitive robots. The presented consensus algorithms provide solutions for both collective decision making and one-to-one role assignment in a connected network of swarm robots. The decisions/roles are abstract without specific contents, thus the algorithms can be further "programmed" for a broad range of target applications. The formation control methods aim to achieve a target collective shape among primitive robots with limited sensing and communication range. A new finite state machine is designed to guarantee global aggregation; the SMA-inspired method can further reshape a loop into any pre-programmed shape. In addition, an automatic design method for swarm aggregation is also investigated, showing the potentials of reinforcement learning in unveiling relationship between local rules and global behaviors. The presented algorithms are merged into two specific scenarios to demonstrate how the consensus algorithms and formation control methods can be applied.