DocumentCode
2242700
Title
Rules and control strategies of multi-robot team moving in hierarchical formation
Author
Chio, Tien-Sung ; Tzyh-Jong Tarn
Author_Institution
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
2701
Abstract
The main objective of this paper is to study the control problems for a multi-robot team moving in hierarchical formation. We formulate the problem as a chart by the four-tier hybrid architecture. We devise rules to form a realizable hierarchical formation. Four control laws are derived to achieve the formation patterns. The proposed control laws are suitable for the on-line, real-time formation tasks. Simulation result shows the efficacy of the approaches.
Keywords
collision avoidance; digital simulation; motion control; multi-robot systems; collision avoidance; control laws; formation patterns; four-tier hybrid architecture; hierarchical formation; motion control; multi-robot system; Control systems; Costs; Force control; Mobile robots; Multirobot systems; Orbital robotics; Robot control; Robot kinematics; Surveillance; Teamwork;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242001
Filename
1242001
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