TY - JOUR
T1 - Mathematical modelling of turning delays in swarm robotics
AU - Taylor-King, Jake P.
AU - Franz, Benjamin
AU - Yates, Christian A.
AU - Erban, Radek
PY - 2015/10
Y1 - 2015/10
N2 - We investigate the effect of turning delays on the behaviour of groups of differential wheeled robots andshow that the group-level behaviour can be described by a transport equation with a suitably incorporateddelay. The results of our mathematical analysis are supported by numerical simulations and experimentswith E-Puck robots. The experimental quantity we compare to our revised model is the mean time forrobots to find the target area in an unknown environment. The transport equation with delay better predicts the mean time to find the target than the standard transport equation without delay.
AB - We investigate the effect of turning delays on the behaviour of groups of differential wheeled robots andshow that the group-level behaviour can be described by a transport equation with a suitably incorporateddelay. The results of our mathematical analysis are supported by numerical simulations and experimentswith E-Puck robots. The experimental quantity we compare to our revised model is the mean time forrobots to find the target area in an unknown environment. The transport equation with delay better predicts the mean time to find the target than the standard transport equation without delay.
UR - http://dx.doi.org/10.1093/imamat/hxv001
UR - http://dx.doi.org/10.1093/imamat/hxv001
U2 - 10.1093/imamat/hxv001
DO - 10.1093/imamat/hxv001
M3 - Article
VL - 80
SP - 1454
EP - 1474
JO - IMA Journal of Applied Mathematics
JF - IMA Journal of Applied Mathematics
SN - 0272-4960
IS - 5
ER -
