A Distributed Scalable Approach to Formation Control in Multi-Robot Systems
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BibTeX
@MISC{Navarro_adistributed,
author = {Iñaki Navarro and Jim Pugh and Alcherio Martinoli and O Matía},
title = {A Distributed Scalable Approach to Formation Control in Multi-Robot Systems},
year = {}
}
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Abstract
Abstract A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the formation is not pre-established but rather results from local interactions, giving all the robots a common, self-organized heading. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable speed and maintaining the desired distances among themselves. Up to seven robots were used in real experiments and up to forty in simulation. 1
