Leader-Follower formation for UAV robot swarm based on fuzzy logic theory

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dc.contributor.authorQuesada, Wilson O.
dc.contributor.authorRodriguez, Jonathan I.
dc.contributor.authorMurillo, Juan C.
dc.contributor.authorCardona, Gustavo A.
dc.contributor.authorJaimes, Luis G.
dc.contributor.authorCalderón, Juan M.
dc.contributor.authorYanguas-Rojas, David
dc.date.accessioned2019-08-08T18:14:28Z
dc.date.available2019-08-08T18:14:28Z
dc.date.issued2018-05-11
dc.description.abstractThis paper proposes an algorithm based on a fuzzy logic approach, capable to guide a robot swarm with the aim to keep a leaderfollower formation without colliding with other swarm agents. The fuzzy system is programmed and evaluated originally in Matlab, where several experiments were performed. The results depicted a robot swarm showing some bio-inspired behaviors, such as swarm agents surrounding the leader when it is in a static position or when it is traveling from one place to another place. Finally, the proposed fuzzy system was implemented on a drone swarm using V-Rep. The drones simulation shows the swarm navigating together and keeping the leader in the center of the swarm when it is static and following the leader when it is moving. These results could be evaluated in a future work using drone robot swarm in real environments.spa
dc.description.domainhttp://unidadinvestigacion.usta.edu.cospa
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.1007/978-3-319-91262-2_65spa
dc.identifier.urihttp://hdl.handle.net/11634/18031
dc.publisher.branchCRAI-USTA Bogotáspa
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dc.rightsAtribución-NoComercial-CompartirIgual 2.5 Colombia
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/2.5/co/
dc.subject.keywordSwarm roboticsspa
dc.subject.keywordAutonomous mobile robotsspa
dc.subject.keywordFuzzy logic theoryspa
dc.subject.keywordDrone swarmspa
dc.titleLeader-Follower formation for UAV robot swarm based on fuzzy logic theoryspa
dc.type.categoryGeneración de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicosspa

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