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Flocking-Segregative Swarming Behaviors using Gibbs Random Fields

Implementation of a decentralized coordination of autonomous swarms using Gibbs Random Field and Metropolis-Hastings sampling toward heterogeneous swarm segregation.

Cite this work

@inproceedings{rezeck2021flocking,
  title={Flocking-Segregative Swarming Behaviors using {Gibbs} Random Fields},
  author={Rezeck, Paulo and Assunção, Renato M. and Chaimowicz, Luiz},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  organization={IEEE}
}

Dependecies

Installation

  • Using git (or download the zip file) clone this repository into the "source code" folder of your ROS workspace (e.g. ~/catkin_ws/src ).
$ cd ~/catkin_ws/src
$ git clone https://github.com/verlab/2021-icra-grf-swarm.git

Usage

  • How to run the algorithm proposed in this work?
$ roslaunch grf_swarm grf_swarm.launch # or grf_swarm_nav.launch to more informations

  • We contrast our stochastic approach with a gradient-type showing that it easy get trapped into local minima.
$ roslaunch grad_swarm grad_swarm.launch

  • Approach proposed by Inacio et al. 2019.
Inácio, F. R., Macharet, D. G., & Chaimowicz, L. (2019). PSO-based strategy for the segregation of heterogeneous robotic swarms. Journal of Computational Science, 31, 86-94.

$ roslaunch pso_swarm pso_swarm.launch

  • Approach proposed by Mitrano et al. 2019.
Mitrano, P., Burklund, J., Giancola, M., & Pinciroli, C. (2019, August). A minimalistic approach to segregation in robot swarms. In 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS) (pp. 105-111). IEEE.

$ roslaunch min_swarm min_swarm.launch

  • Approach proposed by Santos et al. 2020. This approach uses global knowlegde about the position of the robots and then we use as a baseline approach.
Santos, V. G., Pires, A. G., Alitappeh, R. J., Rezeck, P. A., Pimenta, L. C., Macharet, D. G., & Chaimowicz, L. (2020). Spatial segregative behaviors in robotic swarms using differential potentials. Swarm Intelligence, 1-26.

$ roslaunch vgs_swarm vgs_swarm.launch