A Distributed Scalable Approach to Formation...-40SimuRobots

Presented at DARS2008

Iñaki Navarro, Jim Pugh, Alcherio Martinoli, and Fernando Matía

Intelligent Control Group (UPM)
Distributed Intelligent Systems and Algorithms Laboratory (EPFL)

A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the formation is not pre-established but rather results from local interactions, giving all the robots a common, self-organized heading. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable speed and maintaining the desired distances among
themselves. Up to seven robots were used in real experiments and up to forty in simulation.

Category:

Science & Technology

Tags:

• mobile
• robots
• formations
• of
• khepera
• swarm
• robotics

[asp23232]

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