Title :
Isogonic Formation with Connectivity Preservation for a Team of Holonomic Robots in a Cluttered Environment
Author :
Keshmiri, Soheil ; Payandeh, Shahram
Author_Institution :
Exp. Robot. Lab., Simon Fraser Univ., Burnaby, BC, Canada
fDate :
Aug. 31 2010-Sept. 3 2010
Abstract :
A geometric approach to multi-robots group formation with connectivity preservation(from a graph-theoretic perspective) among group members has been presented. It has been proven that such formation approach would result into a unique shortest connectivity link among group members which would not only guarantee the communication preservation among the robotic agents but also facilitate the message passing and routing among the group members once needed.
Keywords :
graph theory; multi-robot systems; position control; connectivity preservation; graph-theoretic perspective; holonomic robots; isogonic formation; message passing; message routing; multirobots group formation; shortest connectivity link; Availability; Lead; Robot kinematics; Simulation; Switches; Group Formation; Holonomic Robots; Inter-robot communication; Multi-Robot Systems;
Conference_Titel :
Web Intelligence and Intelligent Agent Technology (WI-IAT), 2010 IEEE/WIC/ACM International Conference on
Conference_Location :
Toronto, ON
Print_ISBN :
978-1-4244-8482-9
Electronic_ISBN :
978-0-7695-4191-4
DOI :
10.1109/WI-IAT.2010.46
