Multi-robot formation control and terrain servoing with limited sensor information
2005 (English) In: IFAC Proc. Vol. (IFAC-PapersOnline), 2005, p. 577-582Conference paper, Published paper (Refereed)
Abstract [en]
in this paper mobile multi-agent systems with limited sensor information are studied. Two control algorithms are proposed that do not require global information, and are easy to implement. The control problems are motivated by robotic applications such as cleaning, grass mowing and land mines detection, where a common control problem is the complete coverage path planning, for which it is known that parallel formation is optimal. The proposed control algorithms provide terrain servoing for the leading robot and parallel formation keeping for the followers, both of which are only based on measurements from range sensors.
Place, publisher, year, edition, pages 2005. p. 577-582
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 16
Keywords [en]
Feedback, Mobile robots, Robot control, Robot navigation, Sensors, Control problems, Formation keeping, Global informations, Land mine, Mobile multi-agent systems, Multi-robot formation, Range sensors, Robotic applications, Sensor informations, Servoing, Algorithms, Automation, Control, Intelligent agents, Landforms, Multi agent systems, Robot programming, Robots, Robotics
National Category
Computer and Information Sciences
Identifiers URN: urn:nbn:se:kth:diva-156294 DOI: 10.3182/20050703-6-cz-1902.01366 Scopus ID: 2-s2.0-79960735459 ISBN: 008045108X (print) ISBN: 9780080451084 (print) OAI: oai:DiVA.org:kth-156294 DiVA, id: diva2:766816
Conference 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005, 3 July 2005 through 8 July 2005, Prague, Czech Republic
Note QC 20141128
2014-11-282014-11-262022-06-23 Bibliographically approved