DocumentCode :
1861790
Title :
Robot formations using only local sensing and control
Author :
Fredslund, Jakob ; Mataric, Maja J.
Author_Institution :
Dept. of Comput. Sci., Aarhus Univ., Denmark
fYear :
2001
fDate :
2001
Firstpage :
308
Lastpage :
313
Abstract :
We study the problem of achieving global behavior in a group of robots using only local sensing and interaction, in the context of formations, where the goal is to have N mobile robots establish and maintain some predetermined geometric shape. We have devised a simple, general, robust, localized, behavior-based algorithm that solves the problem for N robots each equipped with sonar, laser, camera, and a radio link for communicating with other robots. The method uses the idea of keeping a single friend at a desired angle (by panning the camera and keeping the friend centered in the image), and only communicating heartbeat messages. We also developed a general analytical method for evaluating formations and applied it to our algorithm. We validate our algorithm both in simulation and with physical robots.
Keywords :
cooperative systems; mobile robots; multi-robot systems; position control; camera; geometric shape; heartbeat messages; laser; local control; local interaction; local sensing; mobile robots; radio link; robot formations; sonar; Cameras; Context; Heart beat; Mobile robots; Radio link; Robot sensing systems; Robot vision systems; Robustness; Shape; Sonar;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on
Print_ISBN :
0-7803-7203-4
Type :
conf
DOI :
10.1109/CIRA.2001.1013217
Filename :
1013217
Link To Document :
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