Distributed formation control of heterogeneous robots with limited information

Michael De Denus, John Anderson, Jacky Baltes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


In many multi-robot tasks, it is advantageous for robots to assemble into formations. In many of these applications, it is useful for the robots to have differing capabilities (i.e., be heterogeneous) in terms of perception and locomotion abilities. In real world settings, groups of robots may also have only imperfect or partially-known information about one another as well. Together, heterogeneity and imperfect knowledge provide significant challenges to creating and maintaining formations. This paper describes a method for formation control that allows heterogeneous robots with limited information (no known population size, shared coordinates, or predefined relationships) to dynamically assemble into formation, merge smaller formations together, and correct errors that may arise in the formation. Using a simulation, we have shown our approach to be scalable and robust against robot failure.

Original languageEnglish
Title of host publicationRoboCup 2013
Subtitle of host publicationRobot World Cup XVII
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783662444672
Publication statusPublished - 2014
Externally publishedYes
Event17th RoboCup International Symposium, RoboCup 2013 - Eindhoven, Netherlands
Duration: 2013 Jul 12013 Jul 1

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8371 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other17th RoboCup International Symposium, RoboCup 2013

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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