Development and Implementation of Large-Scale Micro-Robotic Forces Using Formation Behaviors

Abstract

Micro-robots may soon be available for deployment by the thousands. Consequently, controlling and coordinating a force this large to accomplish a prescribed task is of great interest. This paper describes a flexible architecture for deploying thousands of autonomous robots simultaneously. The robots' behavior is based on a subsumption architecture in which individual behaviors are prioritized with respect to all others. The primary behavior explored in this paper is group formation behavior drawn from the work in social potential fields applications conducted by Reif and Wang, and Dudenhoeffer and Jones. While many papers have examined the application of social potential fields in a simulation environment, this paper describes the implementation of this behavior in a collective of small robots.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2000
Accession Number
ADA479548

Entities

People

  • D. D. Dudenhoeffer
  • D. J. Bruemmer
  • M. D. Mckay
  • M. O. Anderson

Organizations

  • Idaho National Laboratory

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Collision Avoidance
  • Command And Control
  • Contracts
  • Costs
  • Detectors
  • Distance Learning
  • Engineering
  • Environment
  • Human Behavior
  • Learning
  • Monitoring
  • Radiation
  • Robotics
  • Robots
  • Self Organizing Systems
  • Test Beds

Fields of Study

  • Computer science

Readers

  • Political Violence and Terrorism Studies.
  • Robotics and Automation.
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - DoD AI Strategy
  • Autonomy
  • Autonomy - Autonomous System Control
  • Autonomy - UAVs