A 3D Local Interaction Strategy for Swarm Robot

A decentralized control strategy for a robot swarm is presented, where each robot try to form a regular tetrahedron with its three neighbors. The proposed method is based on virtual spring and demands minimum local information. Four neighboring robots can form a regular tetrahedron formation regardless of their initial positions. A neighbor selection procedure is used to extend the strategy In addition, an obstacle avoidance mechanism, based on artificial physics, is also introduced. As a result, the basic swarm behaviors such as aggregation, flocking and obstacle avoidance are demonstrated through simulation.