DocumentCode
2438541
Title
On leader-based shape coordination
Author
Haghighi, Reza ; Cheah, Chien Chern
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
404
Lastpage
409
Abstract
In this paper, we consider leader-based shape coordination for multi-robot systems. It is shown that having knowledge about desired velocity and effective interaction among individuals can help group members to continue the path even after leader failure. Since any collective behavior emerges from interaction among individuals, we propose interactive force to maintain minimum distance among agents as well as group unity during movement even after leader failure. Simulation results are presented to illustrate the performance of proposed method.
Keywords
force control; motion control; multi-robot systems; velocity control; interactive force; leader-based shape coordination; multirobot systems; robot behavior; robot velocity; Equations; Force; Lead; Mathematical model; Multirobot systems; Robots; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707872
Filename
5707872
Link To Document