Toward Emerging Cubic-Spline Patterns With a Mobile Robotics Swarm System

An innovative and flexible approach is introduced to address the challenge of self-organizing a group mobile robots into cubic-spline-based patterns without any requirement control points. Besides self-organization robots, incorporates potential field-based for obstacle/collision avoidance. This will offer more flexibility swarm efficiently deal with many practical situations, including smoothly avoiding obstacles during movement or exploring covering areas complex curved patterns. Essentially, this approached by proposing formation model based on smoothed particle hydrodynamic estimation technique, which uses special cubic-spline kernel functions applied here interpolate density each robot in swarm. The moving information used weigh distances robot’s neighbors available its field view. Then, an artificial physics mesh finally built among three having smallest weighted distances. Significant results toward emerging are shown foot-bot simulated ARGoS platform. Analysis different metrics also conducted assess performance sizes presence sensory noise as well partially faulty robots.