TY - GEN
T1 - A general framework integrating exploration, self-assembly and locomotion control for swarm robots
AU - Wei, Hongxing
AU - Li, Haiyuan
AU - Chen, Youdong
AU - Tan, Jindong
PY - 2011
Y1 - 2011
N2 - In this paper, we proposed a general control framework for the swarm robots with self-assembly in real environments. There are three tasks: exploration task, self-assembly task and locomotion task. At the start, the swarm robots explore the environment using their sensors and make decision to form some robotic structures to finish the task. Then the swarm robots execute the self-assembly task to construct the corresponding configuration. For the locomotion, a unified CPG controller model as well as unity configuration representation is combined to generate locomotive motions for robotic structure and improve self-adaptation according to any configuration. Based on Sambot simulation platform, we demonstrate simulation experiments that the swarm robots form different robotic structures to adapt to the different environments. Finally, the effectiveness and scalability of the framework are discussed.
AB - In this paper, we proposed a general control framework for the swarm robots with self-assembly in real environments. There are three tasks: exploration task, self-assembly task and locomotion task. At the start, the swarm robots explore the environment using their sensors and make decision to form some robotic structures to finish the task. Then the swarm robots execute the self-assembly task to construct the corresponding configuration. For the locomotion, a unified CPG controller model as well as unity configuration representation is combined to generate locomotive motions for robotic structure and improve self-adaptation according to any configuration. Based on Sambot simulation platform, we demonstrate simulation experiments that the swarm robots form different robotic structures to adapt to the different environments. Finally, the effectiveness and scalability of the framework are discussed.
UR - https://www.scopus.com/pages/publications/84860773953
U2 - 10.1109/ROBIO.2011.6181397
DO - 10.1109/ROBIO.2011.6181397
M3 - 会议稿件
AN - SCOPUS:84860773953
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 871
EP - 876
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -