Title :
Decentralized Navigation of Groups of Wheeled Mobile Robots With Limited Communication
Author :
Savkin, Andrey V. ; Teimoori, Hamid
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
In this paper, we consider a group of wheeled mobile robots, where each robot has very limited information on other robots in the group. We propose a simple bio-inspired decentralized navigation law, which guarantees that all robots will eventually move in the same direction and with the same speed.
Keywords :
mobile robots; multi-robot systems; path planning; bio-inspired navigation; decentralized navigation; wheeled mobile robot; Biomedical equipment; Mathematical model; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Bio-inspired robot control; decentralized control; flocking motion; multiagent coordination; multirobot networks; robot navigation; wheeled robots;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2010.2081430
