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Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots. / Матвеев, Алексей Серафимович; Коновалов, Петр Алексеевич.

29th Mediterranean Conference on Control and Automation, MED 2021. 2021. p. 1108–1113 9480298.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research › peer-review

Harvard

Матвеев, АС & Коновалов, ПА 2021, Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots. in 29th Mediterranean Conference on Control and Automation, MED 2021., 9480298, pp. 1108–1113, 29th Mediterranean Conference on Control and Automation , 22/06/21. https://doi.org/10.1109/med51440.2021.9480298

APA

Матвеев, А. С., & Коновалов, П. А. (2021). Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots. In 29th Mediterranean Conference on Control and Automation, MED 2021 (pp. 1108–1113). [9480298] https://doi.org/10.1109/med51440.2021.9480298

Vancouver

Матвеев АС, Коновалов ПА. Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots. In 29th Mediterranean Conference on Control and Automation, MED 2021. 2021. p. 1108–1113. 9480298 https://doi.org/10.1109/med51440.2021.9480298

Author

Матвеев, Алексей Серафимович ; Коновалов, Петр Алексеевич. / Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots. 29th Mediterranean Conference on Control and Automation, MED 2021. 2021. pp. 1108–1113

BibTeX

@inproceedings{8d2fece123524feb9589a499d6582a1a,
title = "Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots",
abstract = "A swarm of non-holonomic Dubins-car like robots has to autonomously organize itself into a densest net over a cross-section of a corridor environment. Then the swarm has to keep this formation, while moving along the corridor with a pre-specified speed. Any robot measures its own speed and, in its local frame, has access to the relative locations of the objects within a finite sensing range. The robots do not differentiate the peers, are unaware of the swarm's size and corridor's width, do not carry communication facilities and cannot play distinct roles in the team. A computationally inexpensive, decentralized and distributed control strategy is presented that solves the mission. The performance of the proposed algorithm is justified via a mathematically rigorous global convergence result for the corridors with straight parallel walls and is demonstrated via computer simulation tests for a variety of more intricate cases.",
author = "Матвеев, {Алексей Серафимович} and Коновалов, {Петр Алексеевич}",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 29th Mediterranean Conference on Control and Automation , MED 2021 ; Conference date: 22-06-2021 Through 25-06-2021",
year = "2021",
month = jun,
day = "22",
doi = "10.1109/med51440.2021.9480298",
language = "English",
pages = "1108–1113",
booktitle = "29th Mediterranean Conference on Control and Automation, MED 2021",

}

RIS

TY - GEN

T1 - Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots

AU - Матвеев, Алексей Серафимович

AU - Коновалов, Петр Алексеевич

N1 - Publisher Copyright: © 2021 IEEE.

PY - 2021/6/22

Y1 - 2021/6/22

N2 - A swarm of non-holonomic Dubins-car like robots has to autonomously organize itself into a densest net over a cross-section of a corridor environment. Then the swarm has to keep this formation, while moving along the corridor with a pre-specified speed. Any robot measures its own speed and, in its local frame, has access to the relative locations of the objects within a finite sensing range. The robots do not differentiate the peers, are unaware of the swarm's size and corridor's width, do not carry communication facilities and cannot play distinct roles in the team. A computationally inexpensive, decentralized and distributed control strategy is presented that solves the mission. The performance of the proposed algorithm is justified via a mathematically rigorous global convergence result for the corridors with straight parallel walls and is demonstrated via computer simulation tests for a variety of more intricate cases.

AB - A swarm of non-holonomic Dubins-car like robots has to autonomously organize itself into a densest net over a cross-section of a corridor environment. Then the swarm has to keep this formation, while moving along the corridor with a pre-specified speed. Any robot measures its own speed and, in its local frame, has access to the relative locations of the objects within a finite sensing range. The robots do not differentiate the peers, are unaware of the swarm's size and corridor's width, do not carry communication facilities and cannot play distinct roles in the team. A computationally inexpensive, decentralized and distributed control strategy is presented that solves the mission. The performance of the proposed algorithm is justified via a mathematically rigorous global convergence result for the corridors with straight parallel walls and is demonstrated via computer simulation tests for a variety of more intricate cases.

UR - http://www.scopus.com/inward/record.url?scp=85113669785&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/2cfb9711-be48-3340-aa3a-c7a4d59862fb/

U2 - 10.1109/med51440.2021.9480298

DO - 10.1109/med51440.2021.9480298

M3 - Conference contribution

SP - 1108

EP - 1113

BT - 29th Mediterranean Conference on Control and Automation, MED 2021

T2 - 29th Mediterranean Conference on Control and Automation

Y2 - 22 June 2021 through 25 June 2021

ER -

ID: 87316788