Title :
Dynamic formation algorithms and experiments
Author :
Ballard, Larry ; Ren, Wei
Author_Institution :
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT
Abstract :
We explore and implement a new decentralized strategy for dynamically changing formation control. The purpose of this control strategy is for groups of mobile robots to adapt the shape and size of their formation. In this paper, we present both the control algorithms and experimental results. Based on these results this strategy is an effective method for controlling the formation of multiple mobile robots.
Keywords :
decentralised control; mobile robots; multi-robot systems; decentralized strategy; dynamic formation algorithm; multiple mobile robot; Fires; Heuristic algorithms; Mobile communication; Mobile robots; Shape control; Size control; Consensus; Cooperative control; Dynamic formation;
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
DOI :
10.1109/ICIEA.2009.5138528
