Line formation algorithm in a swarm of reactive robots constrained by underwater environment
作者：
Highlights：
• Underwater exploration is usually done with a single SONAR wired robot.
• We demonstrate that we can replace it by a swarm of small autonomous UUV’s.
• The goal of the main algorithm is to form a line of robot in the swarm.
• There is no communication between robots, they are fully autonomous.
• The line formation algorithm is robust and resists to various perturbations.
摘要
•Underwater exploration is usually done with a single SONAR wired robot.•We demonstrate that we can replace it by a swarm of small autonomous UUV’s.•The goal of the main algorithm is to form a line of robot in the swarm.•There is no communication between robots, they are fully autonomous.•The line formation algorithm is robust and resists to various perturbations.
论文关键词：Underwater vehicles,Robot swarm,Pattern formation,Local interactions,Emergent behavior
论文评审过程：Available online 2 March 2015.
论文官网地址：https://doi.org/10.1016/j.eswa.2015.02.040
