Title

A Survey on Decentralized Flocking Schemes for a Set of Autonomous Mobile Robots

Department

Computer Science

Document Type

Article

Publication Date

1-1-2010

Abstract

Recently, control and coordination of a set of autonomous mobile robots has been paid a lot of attentions, because the cooperation of simple robots offers several advantages, such as redundancy and flexibility, and allows performing hard tasks that could be impossible for one single robot. There are a lot of interesting applications of multiple robots, such as satellite exploration and surveillance missions. The characteristic of simplicity of mobile robots brings potential wide applications; however this characteristic also lead to crash with higher probability during cooperation, especially in harsh environment. Surprisingly, only few researches consider the fault tolerance of mobile robots, especially for dynamic coordination application---robot flocking. In this paper, we summarize the existed flocking algorithms and discuss their characteristics. Then we briefly described our fault tolerant flocking algorithms in different models. Finally we proposed the potential future research directions for dynamic flocking of a group of mobile robots. In all, this work can provide a good reference for the researchers working on dynamic cooperation of robots in distributed system.

Journal

Journal of Communications

Journal ISSN

1796-2021

Volume

5

Issue

1

First Page

31

Last Page

38

Digital Object Identifier (DOI)

10.4304/jcm.5.1.31-38