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Systems and methods for dispersing and clustering a plurality of robotic devices

  • US 7,844,364 B2
  • Filed: 05/17/2005
  • Issued: 11/30/2010
  • Est. Priority Date: 04/16/2002
  • Status: Expired due to Fees
First Claim
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1. A method for dispersing a plurality of robotic devices, the method comprising:

  • defining a boundary condition;

    computing, for each robotic device, a relative position with respect to at least one closest neighboring robotic device;

    computing, for each robotic device, a dispersal velocity based at least in part on the computed relative position of the robotic device; and

    operating each robotic device according to its computed dispersal velocity such that each robotic device separates from at least two of its closest neighboring robotic devices by a substantially uniform distance not exceeding the boundary condition.

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