A technique, known as position based dynamics, can be used to provide a visual description of the evolution of a two-dimensional particle system without solving the differential equations of dynamics. To this aim we applied an algorithm generally employed in submarine robot swarm control; the position of a particle in a lattice, like a robot element of a swarm, is determined by the position of its neighbors. By this way we generated an interaction’s law based on the reciprocal position of particles without the definition of forces. We have therefore created software able to reproduce some behavior of deformable bodies according to Cauchy’s standard model and second gradient theory. It gives a plausible simulation of continuum deformation and fracture and can be useful to describe final and sometime intermediate, configuration of a continuum material under assigned strain of some of its points; the advantages are in saving computational time, with respect to solving classical differential equation. Many aspects have to be still investigated, like the relationships describing the interaction rules between particles and its physical meaning and some results does not sound very good. In this paper we try to focus the job done and what is coming over.

A tool to describe particle system evolution from swarm robotics behavior

dell'Erba R.
2020

Abstract

A technique, known as position based dynamics, can be used to provide a visual description of the evolution of a two-dimensional particle system without solving the differential equations of dynamics. To this aim we applied an algorithm generally employed in submarine robot swarm control; the position of a particle in a lattice, like a robot element of a swarm, is determined by the position of its neighbors. By this way we generated an interaction’s law based on the reciprocal position of particles without the definition of forces. We have therefore created software able to reproduce some behavior of deformable bodies according to Cauchy’s standard model and second gradient theory. It gives a plausible simulation of continuum deformation and fracture and can be useful to describe final and sometime intermediate, configuration of a continuum material under assigned strain of some of its points; the advantages are in saving computational time, with respect to solving classical differential equation. Many aspects have to be still investigated, like the relationships describing the interaction rules between particles and its physical meaning and some results does not sound very good. In this paper we try to focus the job done and what is coming over.
978-3-030-50459-5
978-3-030-50460-1
Position based dynamics
Robot swarm
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12079/56001
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