Title :
A non-communicating multi-robot system with switchable formations
Author :
Cezayirli, Ahmet ; Kerestecioglu, Feza
Author_Institution :
Dept. of R&D, Forevo Digital Design Ltd., Istanbul, Turkey
Abstract :
We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions.
Keywords :
mobile robots; motion control; multi-robot systems; navigation; autonomous mobile robots; connected navigation; deadlock-free; noncommunicating multirobot system; simple local steering rules; switchable formations; Cost function; Navigation; Robot kinematics; Robot sensing systems; Switches; Autonomous motion; connectivity; formation;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606335