Formation Control of Multiple Robots Using Parametric and Implicit Representations
- Cite this paper as:
- Esin Y.H., Unel M., Yildiz M. (2008) Formation Control of Multiple Robots Using Parametric and Implicit Representations. In: Huang DS., Wunsch D.C., Levine D.S., Jo KH. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence. ICIC 2008. Lecture Notes in Computer Science, vol 5227. Springer, Berlin, Heidelberg
A novel method is presented for formation control of a group of autonomous mobile robots using parametric and implicit descriptions of the desired formation. Shape formation is controlled by using potential fields generated from Implicit Polynomial (IP) representations and the control for keeping the desired shape is designed using Elliptical Fourier Descriptors (EFD). Coordination of the robots is modeled by linear springs between each robot and its nearest two neighbors. This approach offers more flexibility in the formation shape and scales well to different swarm sizes and to heterogeneous systems. The method is simulated on robot groups with different sizes to form various formation shapes.
KeywordsShape Formation Robot Coordination Autonomous Mobile Robots
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