Congestion Avoidance for Multiple Micro-Robots Using the Behaviour of Fish Schools
Open Access
- 1 January 2012
- journal article
- Published by SAGE Publications in International Journal of Advanced Robotic Systems
- Vol. 9 (3), 67
- https://doi.org/10.5772/51190
Abstract
This article summarizes a research topic which discusses one of the most common problems in multiple micro-robots' navigation, namely congestion avoidance. This situation occurs when troops of micro-robots moving in different directions meet each other at a common area causing congestion situations. To avoid this risky state - which can create an inextricable scenario - firstly, we established a local and a global communication network that manages the robots' displacement through formation control. This warns each of them of the existence of a risk of congestion and manages the choice of the priority group, which is a new concept that we introduce in order to deal with this kind of congestion conflict. Secondly, we consider a new algorithm based on chaotic equations and inspired by the behaviour of schools of fish, which solves the congestion problem by creating a bifurcation of the troop's configuration and enables the proper avoidance of the conflict exhibited by congestion.Keywords
This publication has 5 references indexed in Scilit:
- Analytic collision anticipation technology considering agents' future behaviorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2010
- Erratum to “Adaptive decentralized congestion avoidance in two dimensional traffic” [Physica A 363 (2006) 512–526]Physica A: Statistical Mechanics and its Applications, 2008
- Analysis of robot collision characteristics using the concept of the collision mapRobotica, 2005
- User Datagram Protocol1980
- Equations Descriptive of Fish Schools and Other Animal AggregationsEcology, 1954