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An inchworm-inspired motion strategy for robotic swarms
Kasra Eshaghi, Zendai Kashino, Hyun Joong Yoon, Goldie Nejat, Beno Benhabib
Journal:

Robotica / Volume 39 / Issue 12 / December 2021

Published online by Cambridge University Press:

23 April 2021, pp. 2283-2305
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Effective motion planning and localization are necessary tasks for swarm robotic systems to maintain a desired formation while maneuvering. Herein, we present an inchworm-inspired strategy that addresses both these tasks concurrently using anchor robots. The proposed strategy is novel as, by dynamically and optimally selecting the anchor robots, it allows the swarm to maximize its localization performance while also considering secondary objectives, such as the swarm’s speed. A complementary novel method for swarm localization, that fuses inter-robot proximity measurements and motion commands, is also presented. Numerous simulated and physical experiments are included to illustrate our contributions.