Robotic Mass Games over r-Disk Proximity Networks

Shinsaku IZUMI, Shun-ichi AZUMA, Toshiharu SUGIE
2013 Transactions of the Society of Instrument and Control Engineers  
This paper addresses a problem of finding distributed controllers for the robotic mass games, that is, to let robots organize themselves into a formation displaying a given grayscale image, over r-disk proximity networks. For solving this problem, we first extend the existing performance index representing the achievement degree of the mass games to the mass games over r-disk proximity networks. Based on this, we propose a solution to the problem and prove that the resulting formation locally
more » ... nimizes the extended performance index. By numerical experiments with the standard image, it is demonstrated that the proposed controllers achieve the mass games.
doi:10.9746/sicetr.49.720 fatcat:l3ipjl6akfertmncxp73iip6bm