A Swarm Aggregation Algorithm based on Local Interaction with Actuator Saturations and Integrated Obstacle Avoidance

Multi-robot systems have been a very attractive research area in the last two decades. The attention given by the robotics community to this research field is motivated by the wide range of applications which can be carried out by a team of robots, such as environmental exploration , search and rescue operations, coverage tasks, agricultural foraging or sweeping operations .

Several important research problems arise in multi-robot systems, ranging from localization , task sequencing and mission-control to decentralized coordination.

Swarm robotics can be defined as the study of how a group of relatively simple, low-cost robots can be constructed to collectively accomplish tasks that are beyond the capabilities of a single one while providing a higher robustness and flexibility.

References

Leccese, A.; Gasparri, A.; Priolo, A.; Oriolo, G.; Ulivi, G., “A swarm aggregation algorithm based on local interaction with actuator saturations and integrated obstacle avoidance,” Robotics and Automation (ICRA), 2013 IEEE International Conference on , vol., no., pp.1865,1870, 6-10 May 2013

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