Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Docking System Design And Self-Assembly Control Of Distributed Swarm Flying Robots, Hongxing Wei, Ning Li, Yong Tao, Youdong Chen, Jindong Tan
Docking System Design And Self-Assembly Control Of Distributed Swarm Flying Robots, Hongxing Wei, Ning Li, Yong Tao, Youdong Chen, Jindong Tan
Michigan Tech Publications
This paper presents a novel docking system design and the distributed self-assembly control strategy for a Distributed Swarm Flying Robot (DSFR). The DSFR is a swarm robot comprising many identical robot modules that are able to move on the ground, dock with each other and fly coordinately once self-assembled into a robotic structure. A generalized adjacency matrix method is proposed to describe the configurations of robotic structures. Based on the docking system and the adjacency matrix, experiments are performed to demonstrate and verify the self-assembly control strategy.