A Mean Shift-Based Pattern Formation Algorithm for Robot Swarms

Chase Vickery, Sayed Ahmad Salehi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper proposes a distributed pattern formation algorithm for robot swarms that uses the mean shift algorithm as a central means for calculating robot movement. The proposed solution aims to allow for fast and scalable pattern formation. By representing the pattern as a discrete set of points on a coordinate plane, robots can use the mean shift algorithm to move towards nearby pattern points. The mean shift algorithm is further used to get robots to distribute around the pattern and prevent collisions among other robots by representing each neighboring robot as a negative pattern point that pushes robots away. In this way, the mean shift algorithm is used for both aggregation towards the pattern as well as regulating robot positions on the pattern. The simulation results presented demonstrate an ability of a swarm to form the pattern with a varying number of robots, showing scalability of the algorithm.

Original languageEnglish
Title of host publication2021 International Conference on Automation, Robotics and Applications, ICARA 2021
Pages16-20
Number of pages5
ISBN (Electronic)9780738142906
DOIs
StatePublished - Feb 4 2021
Event2021 International Conference on Automation, Robotics and Applications, ICARA 2021 - Virtual, Prague, Czech Republic
Duration: Feb 4 2021Feb 6 2021

Publication series

Name2021 International Conference on Automation, Robotics and Applications, ICARA 2021

Conference

Conference2021 International Conference on Automation, Robotics and Applications, ICARA 2021
Country/TerritoryCzech Republic
CityVirtual, Prague
Period2/4/212/6/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

  • mean shift
  • pattern formation
  • swarm robotics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

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