TY - GEN
T1 - Formation control of heterogeneous multi-robot systems
AU - Wang, Qining
AU - Wu, Ming
AU - Huang, Yan
AU - Wang, Long
PY - 2008
Y1 - 2008
N2 - In this paper, a new position feedback based formation control method for heterogeneous multi-robot teams is presented and evaluated. The formation behaviors are integrated with dynamic reference object based collaborative navigation and efficient obstacle avoidance to maintain and change formation real-time. This method is computationally efficient and easy to coordinate in heterogeneous systems. The time to formalize and switch specified formation patterns can be controlled by adjusting the position feedback parameter. Satisfactory experimental results are obtained in simulation and real heterogeneous multi-robot system which consists of autonomous vehicles and legged robots.
AB - In this paper, a new position feedback based formation control method for heterogeneous multi-robot teams is presented and evaluated. The formation behaviors are integrated with dynamic reference object based collaborative navigation and efficient obstacle avoidance to maintain and change formation real-time. This method is computationally efficient and easy to coordinate in heterogeneous systems. The time to formalize and switch specified formation patterns can be controlled by adjusting the position feedback parameter. Satisfactory experimental results are obtained in simulation and real heterogeneous multi-robot system which consists of autonomous vehicles and legged robots.
KW - Coordination of multiple vehicle systems
KW - Distributed control and estimation
KW - Multi-agent systems
UR - http://www.scopus.com/inward/record.url?scp=79961018636&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.1066
DO - 10.3182/20080706-5-KR-1001.1066
M3 - Conference contribution
AN - SCOPUS:79961018636
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -