SWARM ROBOT SOCIAL POTENTIAL FIELDS WITH INTERNAL AGENT DYNAMICS

Forward Chaining for Robot and Agent Navigation using Potential Fields

Stochastic Multi-Agent Patrolling Using Social Potential Fields

In this paper we consider a task of decentralized, multi-agent patrolling of a continous outdoor terrain. We propose an algorithm that efficiently operates under the condition of low communication throughput and is robust to the failure of one or more patrolling agents. The solution is based on Social Potential Fields and is easily extensible to allow other types of behavior. We describe an age...

Local Autonomous Robot Navigation using Potential Fields

The potential fields method for autonomous robot navigation consists essentially in the assignment of an attractive potential to the goal point and a repulsive potential to each of the obstacles in the environment. Several implementations of potential fields for autonomous robot navigation have been reported. The most simple implementation considers a known environment where fixed potentials ca...

Potential information fields for mobile robot exploration

We present a decision theoretic approach to mobile robot exploration. The method evaluates the reduction of joint path and map entropy and computes a potential information field in robot configuration space using these joint entropy reduction estimates. The exploration trajectory is computed descending on the gradient of these field. The technique uses Pose SLAM as its estimation backbone. Very...

Adaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields

Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...