Development and implementation of large-scale micro-robotic forces using formation behaviors

Donald D. Dudenhoeffer; D. J. Bruemmer; Matthew O. Anderson; Mark D. McKay

doi:10.1117/12.439975

20 September 2001 Development and implementation of large-scale micro-robotic forces using formation behaviors

Donald D. Dudenhoeffer, D. J. Bruemmer, Matthew O. Anderson, Mark D. McKay

Proceedings Volume 4364, Unmanned Ground Vehicle Technology III; (2001) https://doi.org/10.1117/12.439975
Event: Aerospace/Defense Sensing, Simulation, and Controls, 2001, Orlando, FL, United States

Abstract

Micro-robots may soon be available for deployment by the thousands. Consequently, controlling and coordinating a force this large to accomplish a prescribed task is of great interest. This paper describes a flexible architecture for deploying thousands of autonomous robots simultaneously. The robots' behavior is based on a subsumption architecture in which individual behaviors are prioritized with respect to all others. The primary behavior explored in this paper is group formation behavior drawn from the work in social potential fields applications conducted by Reif and Wang, and Dudehoeffer and Jones. While many papers have examined the application of social potential fields in a simulation environment, this paper describes the implementation of this behavior in a collective of small robots.

Citation Download Citation

Donald D. Dudenhoeffer, D. J. Bruemmer, Matthew O. Anderson, and Mark D. McKay "Development and implementation of large-scale micro-robotic forces using formation behaviors", Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); https://doi.org/10.1117/12.439975

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available