---
_id: '57224'
author:
- first_name: Muhannad
  full_name: Mujahed, Muhannad
  last_name: Mujahed
- first_name: Dirk
  full_name: Fischer, Dirk
  id: '15357'
  last_name: Fischer
  orcid: 0000-0002-0792-6370
- first_name: Bärbel
  full_name: Mertsching, Bärbel
  last_name: Mertsching
citation:
  ama: 'Mujahed M, Fischer D, Mertsching B. Admissible gap navigation: A new collision
    avoidance approach. <i>Robotics and Autonomous Systems</i>. 2018;103:93-110. doi:<a
    href="https://doi.org/10.1016/j.robot.2018.02.008">10.1016/j.robot.2018.02.008</a>'
  apa: 'Mujahed, M., Fischer, D., &#38; Mertsching, B. (2018). Admissible gap navigation:
    A new collision avoidance approach. <i>Robotics and Autonomous Systems</i>, <i>103</i>,
    93–110. <a href="https://doi.org/10.1016/j.robot.2018.02.008">https://doi.org/10.1016/j.robot.2018.02.008</a>'
  bibtex: '@article{Mujahed_Fischer_Mertsching_2018, title={Admissible gap navigation:
    A new collision avoidance approach}, volume={103}, DOI={<a href="https://doi.org/10.1016/j.robot.2018.02.008">10.1016/j.robot.2018.02.008</a>},
    journal={Robotics and Autonomous Systems}, publisher={Elsevier BV}, author={Mujahed,
    Muhannad and Fischer, Dirk and Mertsching, Bärbel}, year={2018}, pages={93–110}
    }'
  chicago: 'Mujahed, Muhannad, Dirk Fischer, and Bärbel Mertsching. “Admissible Gap
    Navigation: A New Collision Avoidance Approach.” <i>Robotics and Autonomous Systems</i>
    103 (2018): 93–110. <a href="https://doi.org/10.1016/j.robot.2018.02.008">https://doi.org/10.1016/j.robot.2018.02.008</a>.'
  ieee: 'M. Mujahed, D. Fischer, and B. Mertsching, “Admissible gap navigation: A
    new collision avoidance approach,” <i>Robotics and Autonomous Systems</i>, vol.
    103, pp. 93–110, 2018, doi: <a href="https://doi.org/10.1016/j.robot.2018.02.008">10.1016/j.robot.2018.02.008</a>.'
  mla: 'Mujahed, Muhannad, et al. “Admissible Gap Navigation: A New Collision Avoidance
    Approach.” <i>Robotics and Autonomous Systems</i>, vol. 103, Elsevier BV, 2018,
    pp. 93–110, doi:<a href="https://doi.org/10.1016/j.robot.2018.02.008">10.1016/j.robot.2018.02.008</a>.'
  short: M. Mujahed, D. Fischer, B. Mertsching, Robotics and Autonomous Systems 103
    (2018) 93–110.
date_created: 2024-11-19T10:39:56Z
date_updated: 2025-01-22T15:39:05Z
department:
- _id: '50'
doi: 10.1016/j.robot.2018.02.008
intvolume: '       103'
language:
- iso: eng
page: 93-110
publication: Robotics and Autonomous Systems
publication_identifier:
  issn:
  - 0921-8890
publication_status: published
publisher: Elsevier BV
status: public
title: 'Admissible gap navigation: A new collision avoidance approach'
type: journal_article
user_id: '15357'
volume: 103
year: '2018'
...
---
_id: '57226'
author:
- first_name: Muhannad
  full_name: Mujahed, Muhannad
  last_name: Mujahed
- first_name: Dirk
  full_name: Fischer, Dirk
  id: '15357'
  last_name: Fischer
  orcid: 0000-0002-0792-6370
- first_name: Bärbel
  full_name: Mertsching, Bärbel
  last_name: Mertsching
citation:
  ama: 'Mujahed M, Fischer D, Mertsching B. Tangential Gap Flow (TGF) navigation:
    A new reactive obstacle avoidance approach for highly cluttered environments.
    <i>Robotics and Autonomous Systems</i>. 2016;84:15-30. doi:<a href="https://doi.org/10.1016/j.robot.2016.07.001">10.1016/j.robot.2016.07.001</a>'
  apa: 'Mujahed, M., Fischer, D., &#38; Mertsching, B. (2016). Tangential Gap Flow
    (TGF) navigation: A new reactive obstacle avoidance approach for highly cluttered
    environments. <i>Robotics and Autonomous Systems</i>, <i>84</i>, 15–30. <a href="https://doi.org/10.1016/j.robot.2016.07.001">https://doi.org/10.1016/j.robot.2016.07.001</a>'
  bibtex: '@article{Mujahed_Fischer_Mertsching_2016, title={Tangential Gap Flow (TGF)
    navigation: A new reactive obstacle avoidance approach for highly cluttered environments},
    volume={84}, DOI={<a href="https://doi.org/10.1016/j.robot.2016.07.001">10.1016/j.robot.2016.07.001</a>},
    journal={Robotics and Autonomous Systems}, publisher={Elsevier BV}, author={Mujahed,
    Muhannad and Fischer, Dirk and Mertsching, Bärbel}, year={2016}, pages={15–30}
    }'
  chicago: 'Mujahed, Muhannad, Dirk Fischer, and Bärbel Mertsching. “Tangential Gap
    Flow (TGF) Navigation: A New Reactive Obstacle Avoidance Approach for Highly Cluttered
    Environments.” <i>Robotics and Autonomous Systems</i> 84 (2016): 15–30. <a href="https://doi.org/10.1016/j.robot.2016.07.001">https://doi.org/10.1016/j.robot.2016.07.001</a>.'
  ieee: 'M. Mujahed, D. Fischer, and B. Mertsching, “Tangential Gap Flow (TGF) navigation:
    A new reactive obstacle avoidance approach for highly cluttered environments,”
    <i>Robotics and Autonomous Systems</i>, vol. 84, pp. 15–30, 2016, doi: <a href="https://doi.org/10.1016/j.robot.2016.07.001">10.1016/j.robot.2016.07.001</a>.'
  mla: 'Mujahed, Muhannad, et al. “Tangential Gap Flow (TGF) Navigation: A New Reactive
    Obstacle Avoidance Approach for Highly Cluttered Environments.” <i>Robotics and
    Autonomous Systems</i>, vol. 84, Elsevier BV, 2016, pp. 15–30, doi:<a href="https://doi.org/10.1016/j.robot.2016.07.001">10.1016/j.robot.2016.07.001</a>.'
  short: M. Mujahed, D. Fischer, B. Mertsching, Robotics and Autonomous Systems 84
    (2016) 15–30.
date_created: 2024-11-19T10:45:23Z
date_updated: 2025-01-22T15:37:06Z
department:
- _id: '50'
doi: 10.1016/j.robot.2016.07.001
intvolume: '        84'
language:
- iso: eng
page: 15-30
publication: Robotics and Autonomous Systems
publication_identifier:
  issn:
  - 0921-8890
publication_status: published
publisher: Elsevier BV
status: public
title: 'Tangential Gap Flow (TGF) navigation: A new reactive obstacle avoidance approach
  for highly cluttered environments'
type: journal_article
user_id: '15357'
volume: 84
year: '2016'
...
---
_id: '20255'
abstract:
- lang: eng
  text: 'By compiling macroscopic models we analyze the adaptive behavior in a swarm
    of autonomous robots generated by a bio-inspired, distributed control algorithm.
    We developed two macroscopic models by taking two different perspectives: A Stock
    & Flow model, which is simple to implement and fast to simulate, and a spatially
    resolved model based on diffusion processes. These two models were compared concerning
    their prediction quality and their analytical power: One model allowed easy identification
    of the major feedback loops governing the swarm behavior. The other model allowed
    analysis of the expected shapes and positions of observable robot clusters. We
    found a high correlation in the challenges posed by both modeling techniques and
    we highlighted the inherent problems of inferring emergent macroscopic rules from
    a microscopic description of swarm behavior.'
author:
- first_name: Thomas
  full_name: Schmickl, Thomas
  last_name: Schmickl
- first_name: Heiko
  full_name: Hamann, Heiko
  last_name: Hamann
- first_name: Heinz
  full_name: Wörn, Heinz
  last_name: Wörn
- first_name: Karl
  full_name: Crailsheim, Karl
  last_name: Crailsheim
citation:
  ama: Schmickl T, Hamann H, Wörn H, Crailsheim K. Two different approaches to a macroscopic
    model of a bio-inspired robotic swarm. <i>Robotics and Autonomous Systems</i>.
    2009;6(9):913-921. doi:<a href="https://doi.org/10.1016/j.robot.2009.06.002">10.1016/j.robot.2009.06.002</a>
  apa: Schmickl, T., Hamann, H., Wörn, H., &#38; Crailsheim, K. (2009). Two different
    approaches to a macroscopic model of a bio-inspired robotic swarm. <i>Robotics
    and Autonomous Systems</i>, <i>6</i>(9), 913–921. <a href="https://doi.org/10.1016/j.robot.2009.06.002">https://doi.org/10.1016/j.robot.2009.06.002</a>
  bibtex: '@article{Schmickl_Hamann_Wörn_Crailsheim_2009, title={Two different approaches
    to a macroscopic model of a bio-inspired robotic swarm}, volume={6}, DOI={<a href="https://doi.org/10.1016/j.robot.2009.06.002">10.1016/j.robot.2009.06.002</a>},
    number={9}, journal={Robotics and Autonomous Systems}, author={Schmickl, Thomas
    and Hamann, Heiko and Wörn, Heinz and Crailsheim, Karl}, year={2009}, pages={913–921}
    }'
  chicago: 'Schmickl, Thomas, Heiko Hamann, Heinz Wörn, and Karl Crailsheim. “Two
    Different Approaches to a Macroscopic Model of a Bio-Inspired Robotic Swarm.”
    <i>Robotics and Autonomous Systems</i> 6, no. 9 (2009): 913–21. <a href="https://doi.org/10.1016/j.robot.2009.06.002">https://doi.org/10.1016/j.robot.2009.06.002</a>.'
  ieee: T. Schmickl, H. Hamann, H. Wörn, and K. Crailsheim, “Two different approaches
    to a macroscopic model of a bio-inspired robotic swarm,” <i>Robotics and Autonomous
    Systems</i>, vol. 6, no. 9, pp. 913–921, 2009.
  mla: Schmickl, Thomas, et al. “Two Different Approaches to a Macroscopic Model of
    a Bio-Inspired Robotic Swarm.” <i>Robotics and Autonomous Systems</i>, vol. 6,
    no. 9, 2009, pp. 913–21, doi:<a href="https://doi.org/10.1016/j.robot.2009.06.002">10.1016/j.robot.2009.06.002</a>.
  short: T. Schmickl, H. Hamann, H. Wörn, K. Crailsheim, Robotics and Autonomous Systems
    6 (2009) 913–921.
date_created: 2020-11-02T14:07:44Z
date_updated: 2022-01-06T06:54:25Z
department:
- _id: '63'
- _id: '238'
doi: 10.1016/j.robot.2009.06.002
intvolume: '         6'
issue: '9'
language:
- iso: eng
page: 913-921
publication: Robotics and Autonomous Systems
publication_identifier:
  issn:
  - 0921-8890
publication_status: published
status: public
title: Two different approaches to a macroscopic model of a bio-inspired robotic swarm
type: journal_article
user_id: '15415'
volume: 6
year: '2009'
...