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Article: Formation control of multiple autonomous robots: Theory and experimentation
Title | Formation control of multiple autonomous robots: Theory and experimentation |
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Authors | |
Keywords | Formation control Robot formation Perceptive reference frame Mobile robots Event based control |
Issue Date | 2004 |
Citation | Intelligent Automation and Soft Computing, 2004, v. 10, n. 4, p. 277-294 How to Cite? |
Abstract | This paper presents an approach to the control of a formation of autonomous robots using a perceptive reference frame. The perceptive frame uses a parameter that is directly related the fusion of the sensory measurement of the formation as the motion reference. The paper presents the concept of the perceptive reference frame and the design procedure based on the perceptive reference. The stability of the system based on the perceptive reference is investigated. Examples are given to show the flexibility and advantage of the proposed approach. Some useful strategies of coordination are implemented in a perceptive frame by reference projections. The feature of the coordination is illustrated by experiments using three mobile robots. Lab experiments on mobile robot are carried out in an environment with unexpected obstacles and unexpected stop for an arbitrary period of time. |
Persistent Identifier | http://hdl.handle.net/10722/213087 |
ISSN | 2022 Impact Factor: 2.0 2023 SCImago Journal Rankings: 0.338 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Kang, Wei | - |
dc.contributor.author | Tan, Jindong | - |
dc.contributor.author | Xi, Ning | - |
dc.contributor.author | Wang, Yuechao | - |
dc.date.accessioned | 2015-07-28T04:06:05Z | - |
dc.date.available | 2015-07-28T04:06:05Z | - |
dc.date.issued | 2004 | - |
dc.identifier.citation | Intelligent Automation and Soft Computing, 2004, v. 10, n. 4, p. 277-294 | - |
dc.identifier.issn | 1079-8587 | - |
dc.identifier.uri | http://hdl.handle.net/10722/213087 | - |
dc.description.abstract | This paper presents an approach to the control of a formation of autonomous robots using a perceptive reference frame. The perceptive frame uses a parameter that is directly related the fusion of the sensory measurement of the formation as the motion reference. The paper presents the concept of the perceptive reference frame and the design procedure based on the perceptive reference. The stability of the system based on the perceptive reference is investigated. Examples are given to show the flexibility and advantage of the proposed approach. Some useful strategies of coordination are implemented in a perceptive frame by reference projections. The feature of the coordination is illustrated by experiments using three mobile robots. Lab experiments on mobile robot are carried out in an environment with unexpected obstacles and unexpected stop for an arbitrary period of time. | - |
dc.language | eng | - |
dc.relation.ispartof | Intelligent Automation and Soft Computing | - |
dc.subject | Formation control | - |
dc.subject | Robot formation | - |
dc.subject | Perceptive reference frame | - |
dc.subject | Mobile robots | - |
dc.subject | Event based control | - |
dc.title | Formation control of multiple autonomous robots: Theory and experimentation | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.scopus | eid_2-s2.0-7544240548 | - |
dc.identifier.volume | 10 | - |
dc.identifier.issue | 4 | - |
dc.identifier.spage | 277 | - |
dc.identifier.epage | 294 | - |
dc.identifier.isi | WOS:000224104200003 | - |
dc.identifier.issnl | 1079-8587 | - |