<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results.</p></abstract>

This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results.

Robotic Swarm Self-Organisation Control

Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Robotic Swarm Self-Organisation Control"}

This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots....

Robotic Swarm Self-Organisation Control

Published Online: Jul 25, 2019

Page range: 130 - 134

Received: Jun 26, 2018

Accepted: Jun 28, 2019

DOI: https://doi.org/10.2478/ama-2019-0018

Keywords
swarm robotics self-organization, PD controller, nonholonomic robots

© 2019 Zenon Hendzel et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Robotic Swarm Self-Organisation Control

Published Online: Jul 25, 2019

Page range: 130 - 134

Received: Jun 26, 2018

Accepted: Jun 28, 2019

DOI: https://doi.org/10.2478/ama-2019-0018

Keywordsswarm robotics self-organization, PD controller, nonholonomic robots

© 2019 Zenon Hendzel et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
swarm robotics self-organization, PD controller, nonholonomic robots