New:A Distributed Scalable Approach to Formation...-40SimuRobots

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A Distributed Scalable Approach to Formation...-40SimuRobots
         


            
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            Presented at DARS2008

Iñaki Navarro, Jim Pugh, Alcherio Martinoli, and Fernando Matía

Intelligent Control Group (UPM)
Distributed Intelligent Systems and Algorithms Laboratory (EPFL)

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.
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               Keywords:  <a href="/results?search_query=mobile">mobile</a> <a href="/results?search_query=robots">robots</a> <a href="/results?search_query=formations">formations</a> <a href="/results?search_query=of">of</a> <a href="/results?search_query=khepera">khepera</a> <a href="/results?search_query=swarm">swarm</a> <a href="/results?search_query=robotics">robotics</a>

               Added: November 12, 2008

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