In this paper we shall see how a study, started from flocking rules normally used to spatially coordinate a large number of cooperating robots, can be used to solve deformation problems of a continuous material. The advantage is to save compute time with respect of traditional solution of Newton's equations. To this aim we shall impose kinematic rules between the material points as if they were component robots of a swarm and, as such, with precise distancing behaviours borrowed from bird starlings. The approach used is purely kinematic and makes no claim to accuracy but provides very plausible results. Although the force of gravity is not often present in the space domain the deformation of materials, due to the large temperature range, is a hot topic for robotic systems used in that domain. The model is able to reproduce the behaviour of deformable bodies with standard or generalized (Cauchy or second gradient) deformation energy density. The tool gives a plausible simulation of continuum deformation also in fracture case. Some of the material has already been published, but there is an important change from the old papers: a new calculation technique has been used that allows significant progress and appears to be very promising.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    How Swarm Robot Dynamic Can Describe Mechanical Systems


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Ceccarelli, Marco (Herausgeber:in) / Santo, Loredana (Herausgeber:in) / Paoloni, Marco (Herausgeber:in) / Cupertino, Giacomo (Herausgeber:in) / dell’Erba, Ramiro (Autor:in)

    Kongress:

    International Conference on Robots for Space Applications in Orbital Stations ; 2023 ; Rome, Italy April 20, 2023 - April 21, 2023



    Erscheinungsdatum :

    2023-04-22


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Ontology-driven dynamic discovery and distributed coordination of a robot swarm

    Bouten, Niels / Hristoskova, Anna / Ongenae, Femke et al. | BASE | 2012

    Freier Zugriff

    Collective Adaptivity to Dynamic Swarm Densities and Light Conditions in Robot Swarms

    Wahby, Mostafa / Petzold, Julian / Eschk, Catriona et al. | BASE | 2018

    Freier Zugriff


    Disaster swarm robot development: On going project

    Kuswadi, Son / Adji, S. Indra / Sigit, Riyanto et al. | IEEE | 2017