Title :
Dynamics-based control of robotic swarms
Author :
Bishop, Bradley E.
Author_Institution :
US Naval Acad., Annapolis, MD
Abstract :
In this work we consider methods for dynamics-based control of swarms of cooperating differentially-driven mobile robots. The techniques developed enable the use of methods from redundant manipulator control and show a marked improvement over equivalent kinematics-based techniques for both homogeneous and heterogeneous swarms
Keywords :
mobile robots; multi-robot systems; redundant manipulators; robot dynamics; differentially-driven mobile robots; dynamics-based control; kinematics-based techniques; redundant manipulator control; robotic swarms; Manipulator dynamics; Mobile robots; Path planning; Power supplies; Remotely operated vehicles; Robot control; Robot kinematics; Time factors; Vehicle dynamics; Wheels;
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.2006.1642119
