DocumentCode
635126
Title
A non-communicating multi-robot system with switchable formations
Author
Cezayirli, Ahmet ; Kerestecioglu, Feza
Author_Institution
Dept. of R&D, Forevo Digital Design Ltd., Istanbul, Turkey
fYear
2013
fDate
23-26 June 2013
Firstpage
1
Lastpage
6
Abstract
We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions.
Keywords
mobile robots; motion control; multi-robot systems; navigation; autonomous mobile robots; connected navigation; deadlock-free; noncommunicating multirobot system; simple local steering rules; switchable formations; Cost function; Navigation; Robot kinematics; Robot sensing systems; Switches; Autonomous motion; connectivity; formation;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ASCC), 2013 9th Asian
Conference_Location
Istanbul
Print_ISBN
978-1-4673-5767-8
Type
conf
DOI
10.1109/ASCC.2013.6606335
Filename
6606335
Link To Document