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A Circular Formation Method for Biomimetic Robotic Fish Inspired by Fish Milling
Ziye Zhou1,2, Jincun Liu3, Shihan Kong2
1China Academy of Aerospace Science and Innovation, Beijing 102600, China.
Biomimetics (Basel, Switzerland)
|December 22, 2023
Summary
This study explains animal circular motion using forward following and topological communication. A new multi-agent model achieves circular robot fish formations, validated by simulations and experiments.
Area of Science:
- Robotics and Collective Behavior
- Biomimicry and Animal Group Dynamics
- Control Theory and Multi-Agent Systems
Background:
- Circular motion is common in animal groups, like fish milling.
- Existing models lack a comprehensive explanation for these collective behaviors.
- Understanding these mechanisms is key for bio-inspired robotics.
Purpose of the Study:
- To mathematically explain animal circular motion.
- To develop a novel multi-agent model for circular formations.
- To demonstrate the model's efficacy using robotic fish.
Main Methods:
- Delineating forward following and circular topological communication mechanisms.
- Proposing a second-order integrator-based multi-agent circular formation model.
- Developing positive and negative solutions for convergence properties and parameters.
Main Results:
- Achieved homogeneous intelligence convergence in circular formations.
- Demonstrated convergence dependency on agent number and model parameters.
- Successfully simulated and experimented with multi-robotic fish circular formations.
Conclusions:
- The study provides a mathematical basis for observed animal circular motion.
- A novel bio-inspired approach for multi-robot circular formation control is introduced.
- The model offers insights into collective behavior and robotic coordination.
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