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Behavior-based Formation Control for Multi-robot Teams (1997)
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| Venue: | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
| Citations: | 663 - 4 self |
BibTeX
@ARTICLE{Balch97behavior-basedformation,
author = {Tucker Balch and Ronald C. Arkin},
title = {Behavior-based Formation Control for Multi-robot Teams},
journal = {IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION},
year = {1997},
volume = {14},
pages = {926--939}
}
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Abstract
New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based Unmanned Ground Vehicles. The technique has been integrated with the Autonomous Robot Architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Keyphrases
multi-robot team behavior-based formation control avoid hazard different type new reactive behavior navigational goal communications-restricted application formation behavior navigational behavior ugv demo ii architecture task environment robotic team autonomous robot architecture various type ground vehicle
