A study on force-based collaboration in flying swarms

Chiara Gabellieri; Marco Tognon; Lucia Pallottino; Antonio Franchi

doi:10.1007/978-3-030-00533-7_1

A study on force-based collaboration in flying swarms

Chiara Gabellieri, Marco Tognon, Lucia Pallottino, Antonio Franchi^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

9 Citations (Scopus)

Abstract

This work investigates collaborative aerial transportation by swarms of agents based only on implicit information, enabled by the physical interaction among the agents and the environment. Such a coordinating mechanism in collaborative transportation is a basic skill in groups of social animals. We consider cable-suspended objects transported by a swarm of flying robots and we formulate several hypothesis on the behavior of the overall system which are validated thorough numerical study. In particular, we show that a nonzero internal force reduces to one the number of asymptotically stable equilibria and that the internal force intensity is directly connected to the convergence rate. As such, the internal force represents the cornerstone of a communication-less cooperative manipulation paradigm in swarms of flying robots. We also show how a swarm can achieve a stable transportation despite the imprecise knowledge of the system parameters.

Original language	English
Title of host publication	Swarm Intelligence - 11th International Conference, ANTS 2018, Proceedings
Editors	Christian Blum, Andreagiovanni Reina, Marco Dorigo, Mauro Birattari, Anders L. Christensen, Vito Trianni
Publisher	Springer
Pages	3-15
Number of pages	13
ISBN (Print)	9783030005320
DOIs	https://doi.org/10.1007/978-3-030-00533-7_1
Publication status	Published - 2018
Externally published	Yes
Event	11th International Conference on Swarm Intelligence, ANTS 2018 - Rome, Italy Duration: 29 Oct 2018 → 31 Oct 2018 Conference number: 11

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11172 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	11th International Conference on Swarm Intelligence, ANTS 2018
Abbreviated title	ANTS 2018
Country/Territory	Italy
City	Rome
Period	29/10/18 → 31/10/18

Access to Document

10.1007/978-3-030-00533-7_1

Cite this

Gabellieri, C., Tognon, M., Pallottino, L., & Franchi, A. (2018). A study on force-based collaboration in flying swarms. In C. Blum, A. Reina, M. Dorigo, M. Birattari, A. L. Christensen, & V. Trianni (Eds.), Swarm Intelligence - 11th International Conference, ANTS 2018, Proceedings (pp. 3-15). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11172 LNCS). Springer. https://doi.org/10.1007/978-3-030-00533-7_1

Gabellieri, Chiara ; Tognon, Marco ; Pallottino, Lucia et al. / A study on force-based collaboration in flying swarms. Swarm Intelligence - 11th International Conference, ANTS 2018, Proceedings. editor / Christian Blum ; Andreagiovanni Reina ; Marco Dorigo ; Mauro Birattari ; Anders L. Christensen ; Vito Trianni. Springer, 2018. pp. 3-15 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "A study on force-based collaboration in flying swarms",

abstract = "This work investigates collaborative aerial transportation by swarms of agents based only on implicit information, enabled by the physical interaction among the agents and the environment. Such a coordinating mechanism in collaborative transportation is a basic skill in groups of social animals. We consider cable-suspended objects transported by a swarm of flying robots and we formulate several hypothesis on the behavior of the overall system which are validated thorough numerical study. In particular, we show that a nonzero internal force reduces to one the number of asymptotically stable equilibria and that the internal force intensity is directly connected to the convergence rate. As such, the internal force represents the cornerstone of a communication-less cooperative manipulation paradigm in swarms of flying robots. We also show how a swarm can achieve a stable transportation despite the imprecise knowledge of the system parameters.",

author = "Chiara Gabellieri and Marco Tognon and Lucia Pallottino and Antonio Franchi",

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doi = "10.1007/978-3-030-00533-7_1",

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Gabellieri, C, Tognon, M, Pallottino, L & Franchi, A 2018, A study on force-based collaboration in flying swarms. in C Blum, A Reina, M Dorigo, M Birattari, AL Christensen & V Trianni (eds), Swarm Intelligence - 11th International Conference, ANTS 2018, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11172 LNCS, Springer, pp. 3-15, 11th International Conference on Swarm Intelligence, ANTS 2018, Rome, Italy, 29/10/18. https://doi.org/10.1007/978-3-030-00533-7_1

A study on force-based collaboration in flying swarms. / Gabellieri, Chiara; Tognon, Marco; Pallottino, Lucia et al.
Swarm Intelligence - 11th International Conference, ANTS 2018, Proceedings. ed. / Christian Blum; Andreagiovanni Reina; Marco Dorigo; Mauro Birattari; Anders L. Christensen; Vito Trianni. Springer, 2018. p. 3-15 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11172 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - A study on force-based collaboration in flying swarms

AU - Gabellieri, Chiara

AU - Tognon, Marco

AU - Pallottino, Lucia

AU - Franchi, Antonio

N1 - Conference code: 11

PY - 2018

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N2 - This work investigates collaborative aerial transportation by swarms of agents based only on implicit information, enabled by the physical interaction among the agents and the environment. Such a coordinating mechanism in collaborative transportation is a basic skill in groups of social animals. We consider cable-suspended objects transported by a swarm of flying robots and we formulate several hypothesis on the behavior of the overall system which are validated thorough numerical study. In particular, we show that a nonzero internal force reduces to one the number of asymptotically stable equilibria and that the internal force intensity is directly connected to the convergence rate. As such, the internal force represents the cornerstone of a communication-less cooperative manipulation paradigm in swarms of flying robots. We also show how a swarm can achieve a stable transportation despite the imprecise knowledge of the system parameters.

AB - This work investigates collaborative aerial transportation by swarms of agents based only on implicit information, enabled by the physical interaction among the agents and the environment. Such a coordinating mechanism in collaborative transportation is a basic skill in groups of social animals. We consider cable-suspended objects transported by a swarm of flying robots and we formulate several hypothesis on the behavior of the overall system which are validated thorough numerical study. In particular, we show that a nonzero internal force reduces to one the number of asymptotically stable equilibria and that the internal force intensity is directly connected to the convergence rate. As such, the internal force represents the cornerstone of a communication-less cooperative manipulation paradigm in swarms of flying robots. We also show how a swarm can achieve a stable transportation despite the imprecise knowledge of the system parameters.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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A2 - Birattari, Mauro

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Gabellieri C, Tognon M, Pallottino L, Franchi A. A study on force-based collaboration in flying swarms. In Blum C, Reina A, Dorigo M, Birattari M, Christensen AL, Trianni V, editors, Swarm Intelligence - 11th International Conference, ANTS 2018, Proceedings. Springer. 2018. p. 3-15. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-00533-7_1

A study on force-based collaboration in flying swarms

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