Controlling robotic swarm behavior utilizing real-time kinematics and artificial physics
MetadataShow full item record
Recent commercial developments in small, low cost real-time kinematic GPS sensors enable position realization for light, mobile platforms with centimeter-level accuracy. With a high degree of positional confidence, we explore the feasibility of close-proximity operations of cooperative autonomous agents in an outdoor, GPS-enabled environment. A computer-simulated hookian spring force is used to control a swarm of robotic agents, a technique called artificial physics. The computer model applies a proportional spring constant based o position information, and the resultant force is applied to each agent respectively. We validate the model by comparing it to analytic solutions, then further refine the model by comparing it to field testing data. With an accurate model of the system, user-defined tasks are tested in simulations and the same algorithm then controls the behavior of the robotic swarm in an outdoor environment.
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Showing items related by title, author, creator and subject.
Syms, Gordon H. (Monterey, California. Naval Postgraduate School, 1973-06); NPS-53ZZ7306-1AA set of terminal scripts and benchmarks have been derived for comparing the performance of time sharing and batch computer operating systems. Some of the problems encountered in designing valid benchmarks for comparing ...
Dunn, James Patrick, Jr. (Cambridge, Massachusetts; Massachusetts Institute of Technology, 1978);Naval auxiliary vessels carry considerably less cargo than commercial vessels and are significantly more costly to build. By comparing Naval Auxiliary vessels with commercial vessels which carry cargo of a similar nature ...
McDonough, Bryan P. (Monterey, CA; Naval Postgraduate School, 2019-09);With a strong nuclear arsenal, rapidly expanding Navy, and increasing economic influence, China is quickly turning into a peer adversary that matches the United States’ military and economic strength. Strategies must be ...