Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC |
| Edition | 1 PART 1 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: 6 Jul 2008 → 11 Jul 2008 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Number | 1 PART 1 |
| Volume | 17 |
| ISSN (Print) | 1474-6670 |
Conference
| Conference | 17th World Congress, International Federation of Automatic Control, IFAC |
|---|---|
| Country/Territory | Korea, Republic of |
| City | Seoul |
| Period | 6/07/08 → 11/07/08 |
Keywords
- Coordination of multiple vehicle systems
- Distributed control and estimation
- Multi-agent systems
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Wang, Q., Wu, M., Huang, Y., & Wang, L. (2008). Formation control of heterogeneous multi-robot systems. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.1066