Multi-robot system for artistic pattern formation

Author

Alonso-Mora, Javier ; Breitenmoser, Andreas ; Rufli, Martin ; Siegwart, Roland ; Beardsley, Paul

Author_Institution

Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland

fYear

2011

fDate

9-13 May 2011

Firstpage

4512

Lastpage

4517

Abstract

This paper describes work on multi-robot pattern formation. Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots. Furthermore, the trajectories are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence. A distributed controller guarantees collision free trajectories while taking into account the kinematics of differentially driven robots. Experimental results are provided for a representative set of patterns, for a swarm of up to ten physical robots, and for fifty virtual robots in simulation.

Keywords

distributed control; multi-robot systems; position control; robot kinematics; arbitrary target pattern; artistic pattern formation; collision free trajectory; distributed controller; multirobot pattern formation; optimal robot deployment; robot kinematics; Collision avoidance; Convergence; Pattern formation; Robot kinematics; Robot sensing systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980269

Filename

5980269