Distributed control of multi-robot systems using bifurcating potential fields
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ID: 272437
2010
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Abstract
The distributed control of multi-robot systems has been shown to have advantages over that of conventional single-robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using a new control algorithm developed through bifurcating potential fields. It is shown how various patterns can be achieved autonomously through a simple free parameter change, with the stability of the system proven to ensure that desired behaviours always occur.
| Reference Key |
mcinnes2010roboticsdistributed
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|---|---|
| Authors | Derek J. Bennet,Colin McInnes;Derek J. Bennet;Colin McInnes; |
| Journal | robotics and autonomous systems |
| Year | 2010 |
| DOI |
10.1016/j.robot.2009.08.004
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