Behavior-based formation control for multirobot teams

Author

Balch, Tucker ; Arkin, Ronald C.

Author_Institution

Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

14

Issue

6

fYear

1998

fDate

12/1/1998 12:00:00 AM

Firstpage

926

Lastpage

939

Abstract

New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA´s HMMWV-based unmanned ground vehicles. The technique has been integrated with the autonomous robot architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments

Keywords

cooperative systems; intelligent control; mobile robots; multi-robot systems; navigation; path planning; AuRA architecture; DARPA unmanned ground vehicles; UGV Demo II architecture; autonomous robot; behavior-based control; multirobot teams; navigation; reactive behaviors; robot formation; Animals; Communication system control; Hazards; Hidden Markov models; Laboratories; Land vehicles; Mobile robots; Navigation; Robot control; Robot sensing systems;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.736776

Filename

736776