A distributed multi-robot formation control method

Yuan Li; Wei Zou; Feng Wen; Kui Yuan

doi:10.1109/ICMA.2011.5985719

A distributed multi-robot formation control method

Yuan Li^*, Wei Zou, Feng Wen, Kui Yuan

^*Corresponding author for this work

CAS - Institute of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Formation control of multiple wheeled robots with nonholonomic constraints and limited acceleration has been studied in this paper. A distributed formation control method taking acceleration into account in Leader-following structure is proposed. The method uses only local sensing information and the velocity information obtained by communication. Little communication through wireless network allows robots to share their velocity information. We also developed an artificial identity mark for large scale multi-robot systems. The identity mark can not only distinguish different robots, but also measure the distance and orientation between the robots. Extensive experiments have been carried out to validate our strategy both in simulation and with real robots.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	543-548
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2011.5985719
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China Duration: 7 Aug 2011 → 10 Aug 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Conference

Conference	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Country/Territory	China
City	Beijing
Period	7/08/11 → 10/08/11

Keywords

Artificial Identity Mark
Distributed Formation Control
Multi Robot

Access to Document

10.1109/ICMA.2011.5985719

Cite this

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title = "A distributed multi-robot formation control method",

abstract = "Formation control of multiple wheeled robots with nonholonomic constraints and limited acceleration has been studied in this paper. A distributed formation control method taking acceleration into account in Leader-following structure is proposed. The method uses only local sensing information and the velocity information obtained by communication. Little communication through wireless network allows robots to share their velocity information. We also developed an artificial identity mark for large scale multi-robot systems. The identity mark can not only distinguish different robots, but also measure the distance and orientation between the robots. Extensive experiments have been carried out to validate our strategy both in simulation and with real robots.",

keywords = "Artificial Identity Mark, Distributed Formation Control, Multi Robot",

author = "Yuan Li and Wei Zou and Feng Wen and Kui Yuan",

year = "2011",

doi = "10.1109/ICMA.2011.5985719",

language = "English",

isbn = "9781424481149",

series = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

pages = "543--548",

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note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 07-08-2011 Through 10-08-2011",

}

Li, Y, Zou, W, Wen, F & Yuan, K 2011, A distributed multi-robot formation control method. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985719, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 543-548, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 7/08/11. https://doi.org/10.1109/ICMA.2011.5985719

A distributed multi-robot formation control method. / Li, Yuan; Zou, Wei; Wen, Feng et al.
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 543-548 5985719 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Zou, Wei

AU - Wen, Feng

AU - Yuan, Kui

PY - 2011

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N2 - Formation control of multiple wheeled robots with nonholonomic constraints and limited acceleration has been studied in this paper. A distributed formation control method taking acceleration into account in Leader-following structure is proposed. The method uses only local sensing information and the velocity information obtained by communication. Little communication through wireless network allows robots to share their velocity information. We also developed an artificial identity mark for large scale multi-robot systems. The identity mark can not only distinguish different robots, but also measure the distance and orientation between the robots. Extensive experiments have been carried out to validate our strategy both in simulation and with real robots.

AB - Formation control of multiple wheeled robots with nonholonomic constraints and limited acceleration has been studied in this paper. A distributed formation control method taking acceleration into account in Leader-following structure is proposed. The method uses only local sensing information and the velocity information obtained by communication. Little communication through wireless network allows robots to share their velocity information. We also developed an artificial identity mark for large scale multi-robot systems. The identity mark can not only distinguish different robots, but also measure the distance and orientation between the robots. Extensive experiments have been carried out to validate our strategy both in simulation and with real robots.

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KW - Distributed Formation Control

KW - Multi Robot

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DO - 10.1109/ICMA.2011.5985719

M3 - Conference contribution

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BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

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Y2 - 7 August 2011 through 10 August 2011

ER -

A distributed multi-robot formation control method

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Keywords

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