Show simple item record

AuthorElsayed, Saber
AuthorMabrok, Mohamed
Available date2024-02-28T05:17:08Z
Publication Date2024-01-01
Publication NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Identifierhttp://dx.doi.org/10.1007/978-981-99-8715-3_32
CitationElsayed, S., & Mabrok, M. (2023, December). Large-Scale Swarm Control in Cluttered Environments. In International Conference on Social Robotics (pp. 384-395). Singapore: Springer Nature Singapore.‏
ISBN9789819987146
ISSN03029743
URIhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85180631150&origin=inward
URIhttp://hdl.handle.net/10576/52326
AbstractIn the evolving era of social robots, managing a swarm of autonomous agents to perform particular tasks has become essential for numerous industries. The task becomes more challenging for large-scale swarms and complex environments, which have not been fully explored yet. Therefore, this research introduces a methodology incorporating multiple coordinated robotic shepherds to effectively guide large-scale agent swarms in obstacle-laden terrains. The proposed framework commences with deploying an unsupervised machine-learning algorithm to categorise the swarm into clusters. Then, a shepherding algorithm with coordinated robotic shepherds drives the sub-swarms towards the goal. Also, a path planner based on an evolutionary algorithm is proposed to help robotic shepherds move in a way that minimises the dispersion of each sub-swarm and avoids potential hazards and obstructions. The proposed approach is tested on different scenarios, with the results showing a success rate of 100% in guiding swarms with sizes up to 3000 agents.
Languageen
PublisherSpringer Science and Business Media Deutschland GmbH‏
SubjectLarge-scale
Path Planning
Robotic Shepherding
Swarm Control
TitleLarge-Scale Swarm Control in Cluttered Environments
TypeConference Paper
Volume Number14453 LNAI
dc.accessType Abstract Only


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record