Event

Distributed Predictive Aggregation Control for Micro Vibration-Driven Robot Swarms

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Prajol Shrestha and other authors submitted a paper proposing a distributed predictive aggregation controller: each micro vibration-driven robot individually solves a nonlinear model predictive control (NMPC) problem, optimizing swarm aggregation and alignment, robot-to-robot and robot-to-obstacle safety, and task objectives, and exchanges predicted trajectories only with local neighbors, thereby achieving centerless coordination in confined arenas. The study compares six barrier function and control barrier function (CBF) safety formulations on a digital twin of open-source vibration-driven bristlebots in a 0.64 square meter arena, and tests them in phototaxis, phototaxis-encircling, and no-stimulus aggregation tasks, with swarm sizes starting from 10 robots up to the geometric packing limit. The paper has been submitted to Robotics and Autonomous Systems; the above comparisons and tests are all results from the digital twin.