Flocking for Heterogeneous Robot Swarms: A Military Convoy Scenario
- 1 March 2007
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2008 40th Southeastern Symposium on System Theory (SSST)
Abstract
In this paper we apply a popular flocking control algorithm to a heterogeneous swarm of robots. The flocking controller contains separation, cohesion and velocity matching terms and has been shown to converge properly in the case of homogeneous swarms. The swarm models a military convoy unit with supply vehicles, defenders, and attackers. Each class of vehicle possesses different maneuvering capabilities and different objectives. In each case we modify the controller accordingly and analyze the emergent behavior of the swarm.Keywords
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