Segregation of Robotic Swarms
A simple and effective controller that segregates a heterogeneous swarm into homogeneous clusters.
Research
Segregation in Swarm Navigation
We compare two of our methods for swarm navigation: VGVOs and hierarchical abstractions.
Virtual Velocity Obstacles
The VGVO is introduced in order to maintain segregation during navigation of a robotic swarm.
Hierarchical Congestion Control
A hierarchical abstraction that follows simple traffic rules to avoid congestions during navigation.
Hierarchical Path Planning
We use Probabilistic Roadmaps in order to plan a path for a 5 DoF abstraction of a robotic swarm.