Title :
Pattern generation with multiple robots
Author :
Hsieh, Mong-Ying A. ; Kumar, Vijay
Author_Institution :
GRASP Lab., Pennsylvania Univ.
Abstract :
We develop decentralized controllers for a swarm of robots to generate a desired two-dimensional geometric pattern specified by a smooth function while maintaining specified relative distance constraints. The controllers are decentralized in the sense that the robots do not exchange or sense each other´s state information. However, we assume that the robots have range sensors allowing them to obtain information about distances to neighbors within a known range. We establish stability and convergence properties of the controllers
Keywords :
convergence; decentralised control; multi-robot systems; stability; convergence; decentralized control; multiple robots; pattern generation; range sensors; stability; two-dimensional geometric pattern; Biology computing; Communication system control; Convergence; Robot kinematics; Robot sensing systems; Sensor phenomena and characterization; Shape control; Stability; Surveillance; Topology;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642068
