Title :
Coordinated movement of multiple robots for searching a cluttered environment
Author :
Ng, Wee Kiat ; Leng, G.S.B. ; Low, Yee Leong
Author_Institution :
Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper presents a distributed algorithm for multiple robots to move as a group in a cluttered environment while searching for a target. The distributed algorithm consists of four reactive behaviors for obstacles negotiation, target homing, flocking and searching. Simulation and experimental studies of the algorithm show that the search efficiency is not a monotone function of the number of robots deployed.
Keywords :
collision avoidance; distributed algorithms; mobile robots; multi-robot systems; target tracking; cluttered environment; coordinated movement; distributed algorithm; monotone function; multiple robots; obstacles negotiation; reactive behaviors; target homing; Algorithm design and analysis; Birds; Centralized control; Distributed algorithms; Distributed control; Mechanical engineering; Navigation; Organizing; Robot control; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389385
