Commenced in January 2007
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unicycle Related Publications

1 A Cohesive Lagrangian Swarm and Its Application to Multiple Unicycle-like Vehicles

Authors: Bibhya Sharma, Jito Vanualailai

Abstract:

Swarm principles are increasingly being used to design controllers for the coordination of multi-robot systems or, in general, multi-agent systems. This paper proposes a two-dimensional Lagrangian swarm model that enables the planar agents, modeled as point masses, to swarm whilst effectively avoiding each other and obstacles in the environment. A novel method, based on an extended Lyapunov approach, is used to construct the model. Importantly, the Lyapunov method ensures a form of practical stability that guarantees an emergent behavior, namely, a cohesive and wellspaced swarm with a constant arrangement of individuals about the swarm centroid. Computer simulations illustrate this basic feature of collective behavior. As an application, we show how multiple planar mobile unicycle-like robots swarm to eventually form patterns in which their velocities and orientations stabilize.

Keywords: lyapunov stability, unicycle, practical stability, Attractive-repulsive swarm model, individual-based swarm model, Lagrangian swarm model, Lyapunov-like function

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