Full Record

New Search | Similar Records

Author
Title Control of Self-Organizing and Geometric Formations
URL
Publication Date
Date Accessioned
University/Publisher University of Ottawa
Abstract Multi-vehicle systems offer many advantages in engineering applications such as increased efficiency and robustness. However, the disadvantage of multi-vehicle systems is that they require a high level of organization and coordination in order to successfully complete a task. Formation control is a field of engineering that addresses this issue, and provides coordination schemes to successfully implement multi-vehicle systems. Two approaches to group coordination were proposed in this work: geometric and self-organizing formations. A geometric reconfiguring formation was developed using the leader-follower method, and the self-organizing formation was developed using the velocity potential equations from fluid flow theory. Both formation controllers were first tested in simulation in MATLAB, and then implemented on the X80 mobile robot units. Various experiments were conducted to test the formations under difficult obstacle scenarios. The robots successfully navigated through the obstacles as a coordinated as a team using the self-organizing and geometric formation control approaches.
Subjects/Keywords formation control; autonomous mobile robots; control of robot teams; leader-follower formation; self-organizing formations; decentralized control; artificial potential field formation; velocity potential; multi-agent systems; reconfiguring geometric formation
Language en
Country of Publication ca
Record ID handle:10393/30491
Repository ottawa
Date Indexed 2018-01-03
Issued Date 2014-01-01 00:00:00

Sample Search Hits | Sample Images

…Autonomy and group coordination are key traits for the successful navigation of robot teams in dynamic environments. Autonomous motion in multi-robot systems is a very complex problem, and scientists and engineers from diā†µerent fields are working together…

…should not lead to the failure of the entire mission, a team of mobile robots is the best approach[39]. Multi-robot teams add redundancy, increase the fault tolerance of the group, and are a more robust as a team than single robots. Multi-robot

…coordinate with each other in order to successfully complete tasks. Robots need to allocate jobs, define their workspace, work together, and cooperate with each other to perform their mission. Multi-robot teams exchange information over a wireless network, so…

…mobile robots working in an environment increases, the greater the likelihood of inter-robot collisions. A coordination strategy between the robots is instrumental in the successful deployment of multi-robot teams. Collision avoidance strategies alone are…

…reactive behaviors. In the paper, new formations in multi-robot teams are presented and evaluated based on the behavioral approach. The formation 28 3.1. BEHAVIOR BASED FORMATIONS behaviors are integrated with other navigational behaviors to enable a…

…narrow.cpp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Appendix K How to Make a C++ Program to Automatically Generate Multi-Robot Configuration Files for Player/Stage 334 K.1 AutoConfig.cc…

robot systems in military, civilian, and commercial applications. Multi-robot systems have many benefits over their single robot counterparts, since they can perform tasks with greater efficiency, less cost, and they present a more robust solution…

…to come up with solutions. Most navigation solutions for autonomous mobile robots are designed for single robot systems. Multi-robot systems are more complex than their single robot counterparts, and require extra elements such as networked…

.