Journal ArticleDOI
Navigation strategies for multiple autonomous mobile robots moving in formation
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TLDR
A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed and simple navigation strategies for robots moving in formation are derived.Citations
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Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Journal ArticleDOI
A coordination architecture for spacecraft formation control
TL;DR: A coordination architecture that subsumes leader-following, behavioral, and virtual-structure approaches to the multiagent coordination problem is introduced and illustrated through a detailed application of the ideas to the problem of synthesizing a multiple spacecraft interferometer in deep space.
Journal ArticleDOI
A decentralized approach to formation maneuvers
TL;DR: Hardware results demonstrate the effectiveness of the proposed formation control strategies, which injects interrobot damping via passivity techniques and accounts for actuator saturation.
Journal ArticleDOI
High Precision Formation Control of Mobile Robots Using Virtual Structures
M. Anthony Lewis,Kar-Han Tan +1 more
TL;DR: Results are presented that demonstrate that this approach to general control strategy is capable of achieving high precision movement that is fault tolerant and exhibits graceful degradation of performance.
Book
Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles
TL;DR: In this paper, a new framework based on matrix theory is proposed to analyze and design cooperative controls for a group of individual dynamical systems whose outputs are sensed by or communicated to others in an intermittent, dynamically changing, and local manner.
References
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Journal ArticleDOI
Multiresolution path planning for mobile robots
TL;DR: Hierarchical path-searching methods are introduced, which make use of this multiresolution representation, to speed up the path planning process considerably.
Journal ArticleDOI
Dynamic path planning for a mobile automaton with limited information on the environment
Vladimir J. Lumelsky,A. Stepanov +1 more
TL;DR: A lower bound on the length of paths generated by any algorithm operating with uncertainty is formulated, and two nonheuristic path planning algorithms are described.
Proceedings ArticleDOI
Path Relaxation: Path Planning for a Mobile Robot
Charles E. Thorpe,Larry Matthies +1 more
TL;DR: This paper presents Path Relaxation, a method of planning safe paths around obstacles for mobile robots that allows an explicit tradeoff among length of path, clearance away from obstacles, and distance traveled through unmapped areas.
Journal ArticleDOI
Interaction dynamics of multiple mobile robots with simple navigation strategies
TL;DR: The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied and various simple homing and collision-avoidance navigation strategies are derived.