Chapter 1

Controlling swarms of robots with global inputs: Breaking symmetry

Aaron T. Becker    University of Houston, Houston, TX, United States

Abstract

Roboticists, biologists, and chemists are now producing large populations of simple robots, but controlling large populations of robots with limited capabilities is difficult, due to communication and onboard-computation constraints. This chapter provides controllability proofs for control of mobile robots that move in a 2D workspace where each robot receives exactly the same control inputs.

We focus on two types of control: when control inputs are the desired angular and linear velocity for the robots, and secondly when control inputs are the desired direction and speed for the robots. ...

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