Distributed formation control of heterogeneous robots with limited information

Michael De Denus, John Anderson, Jacky Baltes

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題RoboCup 2013
主出版物子標題Robot World Cup XVII
發行者Springer Verlag
頁面292-303
頁數12
ISBN(列印)9783662444672
DOIs
出版狀態已發佈 - 2014
對外發佈
事件17th RoboCup International Symposium, RoboCup 2013 - Eindhoven, 荷兰
持續時間: 2013 七月 12013 七月 1

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
8371 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

其他

其他17th RoboCup International Symposium, RoboCup 2013
國家/地區荷兰
城市Eindhoven
期間2013/07/012013/07/01

ASJC Scopus subject areas

  • 理論電腦科學
  • 電腦科學(全部)

指紋

深入研究「Distributed formation control of heterogeneous robots with limited information」主題。共同形成了獨特的指紋。

引用此