TY - GEN
T1 - Three-robot minimum-time optimal line formation
AU - Wang, Meiling
AU - Jia, Zhenchao
AU - Ma, Hongbin
AU - Fu, Mengyin
PY - 2011
Y1 - 2011
N2 - Multi-robot formation problem has received increasing attention due to its wide applications like surveillances. To illustrate a novel framework on optimal multi-robot formation given in our previous work, which aims to answer the long-term ignored fundamental problem of describing the formation and clarifying optimal formation rigorously in a mathematical manner, as a preliminary case study, two typical cases of the minimum-time line formation problem for three robots are investigated in this note. In this problem, different robots may move with different speeds and the three-robot team aims to row on a straight line with the minimum formation time. Mathematical results have been established with algebraic and geometric analysis, which are further verified by extensive experimental results.
AB - Multi-robot formation problem has received increasing attention due to its wide applications like surveillances. To illustrate a novel framework on optimal multi-robot formation given in our previous work, which aims to answer the long-term ignored fundamental problem of describing the formation and clarifying optimal formation rigorously in a mathematical manner, as a preliminary case study, two typical cases of the minimum-time line formation problem for three robots are investigated in this note. In this problem, different robots may move with different speeds and the three-robot team aims to row on a straight line with the minimum formation time. Mathematical results have been established with algebraic and geometric analysis, which are further verified by extensive experimental results.
UR - https://www.scopus.com/pages/publications/84858990943
U2 - 10.1109/ICCA.2011.6138037
DO - 10.1109/ICCA.2011.6138037
M3 - Conference contribution
AN - SCOPUS:84858990943
SN - 9781457714757
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1326
EP - 1331
BT - 2011 9th IEEE International Conference on Control and Automation, ICCA 2011
T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011
Y2 - 19 December 2011 through 21 December 2011
ER -