A Survey of Multi-mobile Robot Formation Control
A Bayadir,T Abdulmuttalib +1 more
TLDR
This paper denotes a survey on formation control of multi-mobile robot systems which drawn significant attention for the last years and concentrated on the stability of multi mobile robots when they obtained the required formation.Abstract:
This paper denotes a survey on formation control of multi-mobile robot systems which drawn significant attention for the last years. It is concentrated on the stability of multi mobile robots when they obtained the required formation. Also this paper discusses the approaches of formation control and applications of them in changing and remote environments. Two classifications for the formation control methods are surveyed in this paper: the formation control strategies and the formation control stability. The differences among the surveyed approaches are discussed and the results are summarized.read more
Citations
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I and i
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
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RP Lidar Sensor for Multi-Robot Localization using Leader Follower Algorithm
TL;DR: A new technique for multi-robot localization in an unknown environment, called the leader-follower localization algorithm is presented, where one robot goes about as a leader and different robots are considered as followers distributed randomly in the environment.
Proceedings ArticleDOI
Optimising autonomous robot swarm parameters for stable formation design
Daniel H. Stolfi,Grégoire Danoy +1 more
TL;DR: This work focuses on an evolutionary optimisation approach to calculate the parameters of the swarm, e.g. inter-robot distance, to achieve a reliable formation under different initial conditions to achieve autonomous robots swarms self-organisation solely relying on their relative position.
Proceedings ArticleDOI
Formation control of robot swarm with implicit leaders
J. Cai,Yuhong Shi,Lijuan Cai +2 more
TL;DR: By "implicitly" integrating the leaders into the swarm, the proposed algorithm can not only guarantee a swarm of robots to move along predefined formation and track scheduled trajectory with certain velocity, dynamic leader reassignment is also realized, thus enhancing the adaptability and expansibility of the swarm.
References
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Book
Cooperative Coordination and Formation Control for Multi-agent Systems
TL;DR: A rank-preserving property is established for this coordination control system, and the instability of a special equilibrium set at which agents’ positions only span an affine space with dimension less than that of the full space is proved.
Book ChapterDOI
Controlling Formations of Robots with Graph Theory
TL;DR: This research improves on state-of-the-art formation control schemes for leader-follower type multi-robot systems by employing mechanisms that enable groups of robots to move in two-dimensional formations without the need for inter robot communication.
Journal ArticleDOI
An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents
TL;DR: A new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles and a new method for searching the shortest path from source to target is suggested.
Journal ArticleDOI
Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function
Mohamed Maghenem,Abraham Bautista-Castillo,Emmanuel Nuño,Antonio Loria,Elena Panteley,Elena Panteley +5 more
TL;DR: A novel decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to uniformly and asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation is presented.