@inproceedings{a9583186aa9e4f08b6bbfb20c026d764,
title = "Decentralized control for swarm flocking in 3D space",
abstract = "This paper presents a decentralized control strategy for a robot swarm where each robot tries to form a regular tetrahedron with its three neighbors. The proposed method is based on virtual spring. Robots can form regular tetrahedron regardless of their initial positions and they require minimum amount of information about their neighbors. The control strategy is made scalable by integrating a neighbor selection procedure so that it can be expanded to large swarms easily. In addition, an obstacle avoidance mechanism, based on artificial physics, is also introduced. By utilizing this control strategy, basic swarm behaviors such as aggregation, flocking and obstacle avoidance are demonstrated through simulations in an unknown three dimensional environment.",
keywords = "Distributed control, Swarm Intelligence, Swarm robotics",
author = "Xiang Li and Ercan, {M. Fikret} and Fung, {Yu Fai}",
year = "2009",
month = dec,
doi = "10.1007/978-3-642-10817-4_74",
language = "English",
isbn = "3642108164",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "744--754",
booktitle = "Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings",
note = "2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009 ; Conference date: 16-12-2009 Through 18-12-2009",
}