Towards a unifying mathematical framework for pattern transformation in swarm systems. (24th January 2011)

• Record Type: Journal Article
• Authors: Varghese, Blesson; McKee, Gerard
• Is Part Of: International journal of vehicle autonomous systems. Volume 9:Number 1/2(2011)
• Page Start: 63
• Page End: 77
• Publication Date: 2011-01-24
• Subjects: unifying framework -- swarm systems -- pattern formation -- pattern transformation -- simulation -- robot formations -- robot cooperation -- multiple robots -- multi-robot systems -- Moebius transformation; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

This paper identifies major challenges in the area of pattern formation and motivates the need for developing a single framework to surmount these challenges. A framework based on macroscopic parameters for transforming patterns is proposed. A definition for transformation and four special cases, namely elementary and geometrical transformations by repositioning all or a few robots in a pattern are provided. Two feasible tools for transforming patterns namely, a macroscopic parameter method and a mathematical tool based on Moebius transformation are introduced. Simulation of the latter method and real-time issues in realising the tools are also reported in this paper.