DocumentCode
2337009
Title
Dynamic formation algorithms and experiments
Author
Ballard, Larry ; Ren, Wei
Author_Institution
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT
fYear
2009
fDate
25-27 May 2009
Firstpage
1871
Lastpage
1876
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICIEA.2009.5138528
Filename
5138528
Link To Document