Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States
For a robotic swarm system composed of autonomous mobile robots, controlling and using asymmetric global geometric states promotes the task performance of the swarm. This paper presents a systematic method for estimating asymmetric global geometric states over a swarm system. To overcome the limitat...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-07-01
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| Series: | Symmetry |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2073-8994/14/8/1578 |
| _version_ | 1797407762000379904 |
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| author | Yuki Origane Daisuke Kurabayashi |
| author_facet | Yuki Origane Daisuke Kurabayashi |
| author_sort | Yuki Origane |
| collection | DOAJ |
| description | For a robotic swarm system composed of autonomous mobile robots, controlling and using asymmetric global geometric states promotes the task performance of the swarm. This paper presents a systematic method for estimating asymmetric global geometric states over a swarm system. To overcome the limitations of local observation or communication ability, we propose a wave-type interaction among neighboring robots. We assume that each robot has a scalar state variable called a phase, which is manipulated through interactions. Through the analysis of eigenvalues of a graph Laplacian matrix corresponding to a local communication network of robots, we show that a robot can estimate global states, such as the size of an entire swarm, by frequency analysis of its phase. We also analyzed the stability of the wave-type interaction based on von-Neumann stability. We verified the proposed method by computer simulations, in which robots in a swarm detected the deformation in the shape of the swarm when the swarm was passing through a narrow area. The result will contribute to building a control system for swarms that can manipulate their shape or characteristics to adapt themselves based on tasks or environmental requirements. |
| first_indexed | 2024-03-09T03:47:17Z |
| format | Article |
| id | doaj.art-492dc39cddd448a0b73beaf2cf448c3b |
| institution | Directory Open Access Journal |
| issn | 2073-8994 |
| language | English |
| last_indexed | 2024-03-09T03:47:17Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Symmetry |
| spelling | doaj.art-492dc39cddd448a0b73beaf2cf448c3b2023-12-03T14:32:55ZengMDPI AGSymmetry2073-89942022-07-01148157810.3390/sym14081578Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric StatesYuki Origane0Daisuke Kurabayashi1Department of Systems and Control Engineering, School of Engineering, Tokyo Institute of Technology, Tokyo 152-8550, JapanDepartment of Systems and Control Engineering, School of Engineering, Tokyo Institute of Technology, Tokyo 152-8550, JapanFor a robotic swarm system composed of autonomous mobile robots, controlling and using asymmetric global geometric states promotes the task performance of the swarm. This paper presents a systematic method for estimating asymmetric global geometric states over a swarm system. To overcome the limitations of local observation or communication ability, we propose a wave-type interaction among neighboring robots. We assume that each robot has a scalar state variable called a phase, which is manipulated through interactions. Through the analysis of eigenvalues of a graph Laplacian matrix corresponding to a local communication network of robots, we show that a robot can estimate global states, such as the size of an entire swarm, by frequency analysis of its phase. We also analyzed the stability of the wave-type interaction based on von-Neumann stability. We verified the proposed method by computer simulations, in which robots in a swarm detected the deformation in the shape of the swarm when the swarm was passing through a narrow area. The result will contribute to building a control system for swarms that can manipulate their shape or characteristics to adapt themselves based on tasks or environmental requirements.https://www.mdpi.com/2073-8994/14/8/1578robotic swarmwave-type interactioncoupled oscillator system |
| spellingShingle | Yuki Origane Daisuke Kurabayashi Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States Symmetry robotic swarm wave-type interaction coupled oscillator system |
| title | Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States |
| title_full | Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States |
| title_fullStr | Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States |
| title_full_unstemmed | Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States |
| title_short | Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States |
| title_sort | wave type interaction within a robotic swarm system for decentralized estimation of global geometric states |
| topic | robotic swarm wave-type interaction coupled oscillator system |
| url | https://www.mdpi.com/2073-8994/14/8/1578 |
| work_keys_str_mv | AT yukiorigane wavetypeinteractionwithinaroboticswarmsystemfordecentralizedestimationofglobalgeometricstates AT daisukekurabayashi wavetypeinteractionwithinaroboticswarmsystemfordecentralizedestimationofglobalgeometricstates |