SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environments
For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication, algorithms that rely on global-based information are infeasible. Typically, traditional gene regulatory networks (GRNs) that achieve superior performance in forming trapping pattern tow...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
KeAi Communications Co., Ltd.
2023-08-01
|
| Series: | Defence Technology |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S221491472300137X |
| _version_ | 1827855563919196160 |
|---|---|
| author | Yutong Yuan Zhun Fan Xiaomin Zhu Li Ma Ji Ouyang Weidong Bao Ji Wang Zhaojun Wang |
| author_facet | Yutong Yuan Zhun Fan Xiaomin Zhu Li Ma Ji Ouyang Weidong Bao Ji Wang Zhaojun Wang |
| author_sort | Yutong Yuan |
| collection | DOAJ |
| description | For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication, algorithms that rely on global-based information are infeasible. Typically, traditional gene regulatory networks (GRNs) that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots. This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms (SUNDER-GRN) to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information. A hierarchical self-organized grouping method (HSG) is proposed to structure subswarms in a distributed way. In addition, a modified distributed controller, with a relative coordinate system that is established to relieve the need for global information, is leveraged to facilitate subswarms entrapment toward different targets, thus improving the global multi-target entrapping performance. The results demonstrate the superiority of SUNDER-GRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible. |
| first_indexed | 2024-03-12T11:54:03Z |
| format | Article |
| id | doaj.art-c4e9a65fd8034c1c862d21b57011f65a |
| institution | Directory Open Access Journal |
| issn | 2214-9147 |
| language | English |
| last_indexed | 2024-03-12T11:54:03Z |
| publishDate | 2023-08-01 |
| publisher | KeAi Communications Co., Ltd. |
| record_format | Article |
| series | Defence Technology |
| spelling | doaj.art-c4e9a65fd8034c1c862d21b57011f65a2023-08-31T05:02:55ZengKeAi Communications Co., Ltd.Defence Technology2214-91472023-08-01266883SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environmentsYutong Yuan0Zhun Fan1Xiaomin Zhu2Li Ma3Ji Ouyang4Weidong Bao5Ji Wang6Zhaojun Wang7College of Systems Engineer, National University of Defense Technology, Changsha 410073, ChinaSchool of Electrical and Information Engineering, Shantou University, Shantou 515063, China; Corresponding author.College of Systems Engineer, National University of Defense Technology, Changsha 410073, China; Strategic Assessments and Consultation Institute, Academy of Military Science, Beijing 100097, ChinaCollege of Systems Engineer, National University of Defense Technology, Changsha 410073, China; Strategic Assessments and Consultation Institute, Academy of Military Science, Beijing 100097, ChinaCollege of Systems Engineer, National University of Defense Technology, Changsha 410073, ChinaCollege of Systems Engineer, National University of Defense Technology, Changsha 410073, ChinaCollege of Systems Engineer, National University of Defense Technology, Changsha 410073, ChinaSchool of Electrical and Information Engineering, Shantou University, Shantou 515063, ChinaFor swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication, algorithms that rely on global-based information are infeasible. Typically, traditional gene regulatory networks (GRNs) that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots. This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms (SUNDER-GRN) to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information. A hierarchical self-organized grouping method (HSG) is proposed to structure subswarms in a distributed way. In addition, a modified distributed controller, with a relative coordinate system that is established to relieve the need for global information, is leveraged to facilitate subswarms entrapment toward different targets, thus improving the global multi-target entrapping performance. The results demonstrate the superiority of SUNDER-GRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible.http://www.sciencedirect.com/science/article/pii/S221491472300137XSwarm robotsLocal informationGene regulatory networkSwarm groupingTrapping patternConfined multitarget environment |
| spellingShingle | Yutong Yuan Zhun Fan Xiaomin Zhu Li Ma Ji Ouyang Weidong Bao Ji Wang Zhaojun Wang SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environments Defence Technology Swarm robots Local information Gene regulatory network Swarm grouping Trapping pattern Confined multitarget environment |
| title | SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environments |
| title_full | SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environments |
| title_fullStr | SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environments |
| title_full_unstemmed | SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environments |
| title_short | SUNDER: Self-organized grouping and entrapping method for swarms in multitarget environments |
| title_sort | sunder self organized grouping and entrapping method for swarms in multitarget environments |
| topic | Swarm robots Local information Gene regulatory network Swarm grouping Trapping pattern Confined multitarget environment |
| url | http://www.sciencedirect.com/science/article/pii/S221491472300137X |
| work_keys_str_mv | AT yutongyuan sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments AT zhunfan sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments AT xiaominzhu sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments AT lima sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments AT jiouyang sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments AT weidongbao sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments AT jiwang sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments AT zhaojunwang sunderselforganizedgroupingandentrappingmethodforswarmsinmultitargetenvironments |