Formation control of multiple robots using parametric and implicit representations

Esin, Yeşim Hümay and Ünel, Mustafa and Yıldız, Mehmet (2008) Formation control of multiple robots using parametric and implicit representations. In: Huang, D.-S., (ed.) Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence. Lecture Notes in Computer Science, 5227/2. Springer, Berlin / Heidelberg, pp. 558-565. ISBN 978-3-540-85983-3

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Official URL: http://dx.doi.org/10.1007/978-3-540-85984-0_67

Abstract

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.

Item Type:	Book Section / Chapter
Additional Information:	DOI: 10.1007/978-3-540-85984-0_67
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions:	Faculty of Engineering and Natural Sciences > Academic programs > Materials Science & Eng.
Depositing User:	Mehmet Yıldız
Date Deposited:	30 Oct 2008 22:50
Last Modified:	28 Apr 2020 14:06
URI:	https://research.sabanciuniv.edu/id/eprint/9780

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