Modeling and simulating a mathematical tool for multi-robot pattern transformation

Varghese, B. and McKee, G. T. (2009) Modeling and simulating a mathematical tool for multi-robot pattern transformation. In: Mahmoud, S. S., Jusoff, K. and Li, K. (eds.) 2009 International Conference on Computer Modeling and Simulation, Proceedings. IEEE Computer Soc, pp. 21-27. ISBN 9780769535623 doi: 10.1109/ICCMS.2009.40

Abstract/Summary

The work reported in this paper is motivated by the need to investigate general methods for pattern transformation. A formal definition for pattern transformation is provided and four special cases namely, elementary and geometric transformation based on repositioning all and some agents in the pattern are introduced. The need for a mathematical tool and simulations for visualizing the behavior of a transformation method is highlighted. A mathematical method based on the Moebius transformation is proposed. The transformation method involves discretization of events for planning paths of individual robots in a pattern. Simulations on a particle physics simulator are used to validate the feasibility of the proposed method.