MULTIͳROBOT SYSTEMS, TRENDS AND DEVELOPMENT Edited by Toshiyuki Yasuda and Kazuhiro Ohkura Multi-Robot Systems, Trends and Development Edited by Toshiyuki Yasuda and Kazuhiro Ohkura Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Ana Nikolic Technical Editor Teodora Smiljanic Cover Designer Martina Sirotic Image Copyright Vladimir Nikitin, 2010. Used under license from Shutterstock.com First published January, 2011 Printed in India A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Multi-Robot Systems, Trends and Development, Edited by Toshiyuki Yasuda and Kazuhiro Ohkura p. cm. ISBN 978-953-307-425-2 free online editions of InTech Books and Journals can be found at www.intechopen.com [...]... or apart and have two properties, namely 14 Multi-Robot Systems, Trends and Development strength and minimum distance The simulations reported in this paper employ the particle system, particles and attractive or repulsive forces 5 .1 Experimental setup To establish a pattern, the particles of the pattern are modelled in an open environment such that they are acted upon by forces, namely macro and micro... EuropeanWorkshop on Multi-agent Systems, Bath, UK, pp 423–433 Varghese, B & McKee, G T (2008) A Mathematical Model, Implementation and study of a swarm conglomerate and its formation control, Proceedings of the Towards Autonomous Robotic Systems Conference, Edinburgh, pp 15 6 16 2 20 Multi-Robot Systems, Trends and Development Wang, J.; Wu, X – B & Xu, Z – L (2006) Decentralized formation control and obstacle avoidance... prototype particles and forces Particles represent objects which are stationary or dynamic in an environment and can be modelled using four properties, namely mass, position, velocity and age Springs on the other hand can connect two particles and prevent collisions Springs are characterized by three properties, namely rest length, strength and damping Attractions or repulsions pull particles together or apart.. .Part 1 Task Oriented Approach 1 Swarm Patterns: Trends and Transformation Tools Blesson Varghese and Gerard McKee School of Systems Engineering, University of Reading, Whiteknights Campus Reading, Berkshire, United Kingdom 1 Introduction The domain of multi-robot systems incorporates research which is inspired by nature The aim of this research is to design man-made systems which incorporate... Physics website, 2 010 ) environment Processing is an open source programming language and environment enabling visualizations for learning and prototyping, where as Traer Physics is a particle physics simulation engine for Processing The Traer physics library has provisions for modeling a particle system, particles, springs and attractive or repulsive forces (Traer Physics website, 2 010 ) The particle system... snapshot of the Angle Offset 15 ° 30° 45° 60° 3 - - - 1 4 - - 2 - 5 - 1 - - 6 - 3 - 3 No of Robots Table 1 Rotation Values & Estimated Collisions Swarm Patterns: Trends and Transformation Tools 15 Fig 5 Simulation results for transformation using Macroscopic Transformation tool (i) Rotated swarm model for various number of robots, (ii) Deflation of the model along the yaxis (For n = 10 and 20, inflation along... Animation and Simulation, Manchester, UK, pp 15 1– 16 2 Arkin R C (19 98) Behavior-Based Robotics The MIT Press Balch, T & Arkin, R C (19 98) Behavior-based formation control for multi robot teams, IEEE Transactions on Robotics and Automation, pp 926–939 Balch, T & Hybinette, M (2000) Social potentials for scalable multi-robot formations, Proceedings of the IEEE International Conference on Robotics and Automation,... is given by qi(xi, yi) where qi ∈ R2 and i = 1, 2, , N The function which enables the transformation of the pattern P to Q is given by f (P) = Q In other words, f (p1(x1, y1), p2(x2, y2), , pN(xN, yN)) = q1(x1, y1), q2(x2, y2), , qN(xN, yN) The application of an inverse transformation function on the transformed pattern Q yields the pattern P, given by f -1( Q) = P The transformation on the pattern... on machine Learning and Cybernetics, pp 803–808 2 Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System Tao Zhang, Xiaqin Li, Yi Zhu, Song Chen, Yu Cheng and Jingyan Song Department of Automation, Tsinghua University, Beijing 10 0084 Division of Control Science and Engineering, Tsinghua National Laboratory for Information Science and Technology, Beijing 10 0084 National Key... validate and visualize the mathematical model and tools employed for pattern transformation The feasibility of the proposed approach was Swarm Patterns: Trends and Transformation Tools 13 Fig 3 Sequence of operations for a circle-to-line transformation using the Mathematical Transformation Tool Fig 4 Discretization of a straight line validated on the Processing (Processing website, 2 010 ) and Traer . 9 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 Chapter 15 Chapter 16 Part 2 Chapter 17 Chapter 18 Chapter 19 Chapter 20 Contents VII Research on Multi-Robot Architecture and Decision-making. MULTIͳROBOT SYSTEMS, TRENDS AND DEVELOPMENT Edited by Toshiyuki Yasuda and Kazuhiro Ohkura Multi-Robot Systems, Trends and Development Edited by Toshiyuki Yasuda and Kazuhiro Ohkura Published. Extended Information Filter 14 9 Francesco Conte, Andrea Cristofaro, Alessandro Renzaglia and Agostino Martinelli Multi-Robot SLAM: A Vision-Based Approach 17 1 Hassan Hajjdiab and Robert Laganiere Probabilistic