Collision-Free Fuzzy Formation Control of Swarm Robotic Cyber-Physical Systems Using a Robust Orthogonal Firefly Algorithm

This paper presents a collision-free fuzzy formation control strategy of swarm robotic cyber-physical systems (CPSs) using a robust orthogonal firefly algorithm (OFA). The classical FA is fused with the Taguchi method and the ranking mutation process to present a hybrid artificial intelligence. This computational intelligence is employed with the fuzzy theory to develop optimal cyber and cognition levels in swarm robotic CPS 5C architecture. With robotic sensors and actuators, the OFA-fuzzy-based cyber and cognition levels are incorporated with the smart connection, data-to-information conversion, and configuration levels to design a pragmatic swarm robotic CPS using system-on-a-programmable-chip technology. The broadcast distributed control strategy and potential field are employed to address the formation control problem of swarm robotic CPSs with obstacles. In the proposed swarm robotic CPS, the embedded central processing unit, operating system, networking intellectual property (IP), and robotic custom IPs are integrated into field-programmable gate array chips. The experimental results and comparisons with other methods show the merits of the proposed swarm robotic CPS in achieving collision-free distributed formation control.