Autonomous formation selection for ground moving multi-robot systems

Shuang Yu, Jan Carlo Barca

    Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

    15 Citations (Scopus)


    Multi-robot systems have many useful real world applications including disaster management, exploration and surveying. Formation control is critical in these contexts as the success of groups often depend on the ability to generate and maintain particular formation shapes. It is also important that a multi-robot system can evaluate and select appropriate alternative formations when an ideal formation cannot be upheld, particularly in dynamic real world scenarios. A distributed formation selection mechanism that addresses these issues by enabling groups of unmanned ground vehicles to autonomously select, scale and morph formation shapes when navigating through dynamic environments is presented in this paper. Experiments on non-holonomic ground moving robots demonstrate the suitability of the proposed technology.
    Original languageEnglish
    Title of host publication2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
    EditorsSungshin Kim
    Place of PublicationPiscataway NJ USA
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages54 - 59
    Number of pages6
    ISBN (Print)9781467391078
    Publication statusPublished - 2015
    EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2015 - Busan, Korea, South
    Duration: 7 Jul 201511 Jul 2015
    Conference number: 14th (Proceedings)


    ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2015
    Abbreviated titleAIM 2015
    Country/TerritoryKorea, South
    Internet address

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