An Overview of Physicomimetics

摘要

Abstract. This paper provides an overview of our framework, called physicomimetics, for the distributed control of swarms of robots. We focus on robotic behaviors that are similar to those shown by solids, liquids, and gases. Solid formations are useful for distributed sensing tasks, while liquids are for obstacle avoidance tasks. Gases are handy for coverage tasks, such as surveillance and sweeping. Theoretical analyses are provided that allow us to reliably control these behaviors. Finally, our implementation on seven robots is summarized. 1