Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes
arxiv(2024)
摘要
Despite their growing popularity, swarms of robots remain limited by the
operating time of each individual. We present algorithms which allow a human to
sculpt a swarm of robots into a shape that persists in space perpetually,
independent of onboard energy constraints such as batteries. Robots generate a
path through a shape such that robots cycle in and out of the shape. Robots
inside the shape react to human initiated changes and adapt the path through
the shape accordingly. Robots outside the shape recharge and return to the
shape so that the shape can persist indefinitely. The presented algorithms
communicate shape changes throughout the swarm using message passing and robot
motion. These algorithms enable the swarm to persist through any arbitrary
changes to the shape. We describe these algorithms in detail and present their
performance in simulation and on a swarm of mobile robots. The result is a
swarm behavior more suitable for extended duration, dynamic shape-based tasks
in applications such as agriculture and emergency response.
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