Towards a unifying framework for pattern transformation in swarm systems
Varghese, B. and McKee, G. (2009) Towards a unifying framework for pattern transformation in swarm systems. In: Beji, L., Otmane, S. and Abichou, A. (eds.) Intelligent systems and automation. AIP Conference Proceedings, 1107. Amer Inst Physics, pp. 65-70. ISBN 9780735406421
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This paper identifies the major challenges in the area of pattern formation. The work is also motivated by the need for development of a single framework to surmount these challenges. A framework based on the control of macroscopic parameters is proposed. The issue of transformation of patterns is specifically considered. A definition for transformation and four special cases, namely elementary and geometrical transformations by repositioning all or some robots in the pattern are provided. Two feasible tools for pattern transformation namely, a macroscopic parameter method and a mathematical tool - Moebius transformation also known as the linear fractional transformation are introduced. The realization of the unifying framework considering planning and communication is reported.