Towards Swarms of Long Heavy Articulated Vehicles

This paper investigates decentralized swarm intelligence for Heavy Articulated Vehicles (HAVs), which are traditionally automated through centralized Multi-Robot Systems. Unlike typical swarm robotics, where individuals are modeled as point masses with simple kinematics and circular collision footprints, HAVs present unique challenges. We focus on the specific issues related to jackknifing and mutual collision prevention among these elongated swarm members. Our proposed approaches aim to address and mitigate these challenges effectively.