Controlling formations of robots with graph theory

Jan Carlo Barca; Yasar Ahmet Sekercioglu; Adam Ford

doi:10.1007/978-3-642-33932-5_52

Controlling formations of robots with graph theory

Jan Carlo Barca, Yasar Ahmet Sekercioglu, Adam Ford

Electrical and Computer Systems Engineering

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

11 Citations (Scopus)

Abstract

A number of techniques that allow autonomous multi-robot systems to be held within formation-like structures exist but they are limited by a high communication load, high energy usage and a lack of robustness. This research improves on state-of-the-art formation control schemes for leader-follower type multi-robot systems by employing mechanisms that enable groups of robots to move in two-dimensional formations without the need for inter robot communication. We also incorporate techniques that enable the robots to move back into formation in a precise manner when external interferences have caused the formation shape to deteriorate. The control system is derived through the use of graph theory and has been tested rigorously in a realistic simulator to prove its applicability to multi-robot control.

Original language	English
Title of host publication	Intelligent Autonomous Systems 12
Subtitle of host publication	Volume 2: Proceedings of the 12th International Conference IAS-12, Held June 26–29, 2012 Jeju Island, Korea
Editors	S Lee, H Cho, K J Yoon, J Lee
Place of Publication	Berlin Germany
Publisher	Springer
Pages	563-574
Number of pages	12
Volume	194
ISBN (Electronic)	9783642339325
ISBN (Print)	9783642339318
DOIs	https://doi.org/10.1007/978-3-642-33932-5_52
Publication status	Published - 2012
Event	International Conference on Intelligent Autonomous Systems 2012 - ICC Jeju, Jeju Island, Korea, South Duration: 26 Jun 2012 → 29 Jun 2012 Conference number: 12th http://www.wikicfp.com/cfp/servlet/event.showcfp?eventid=16530&copyownerid=25300

Publication series

Name	Advances in Intelligent Systems and Computing
Publisher	Springer
Volume	194
ISSN (Print)	2194-5357
ISSN (Electronic)	2194-5365

Conference

Conference	International Conference on Intelligent Autonomous Systems 2012
Abbreviated title	IAS 2012
Country/Territory	Korea, South
City	Jeju Island
Period	26/06/12 → 29/06/12
Internet address	http://www.wikicfp.com/cfp/servlet/event.showcfp?eventid=16530&copyownerid=25300

Access to Document

10.1007/978-3-642-33932-5_52

Cite this

Barca, J. C., Sekercioglu, Y. A., & Ford, A. (2012). Controlling formations of robots with graph theory. In S. Lee, H. Cho, K. J. Yoon, & J. Lee (Eds.), Intelligent Autonomous Systems 12: Volume 2: Proceedings of the 12th International Conference IAS-12, Held June 26–29, 2012 Jeju Island, Korea (Vol. 194, pp. 563-574). (Advances in Intelligent Systems and Computing; Vol. 194). Springer. https://doi.org/10.1007/978-3-642-33932-5_52

Barca, Jan Carlo ; Sekercioglu, Yasar Ahmet ; Ford, Adam. / Controlling formations of robots with graph theory. Intelligent Autonomous Systems 12: Volume 2: Proceedings of the 12th International Conference IAS-12, Held June 26–29, 2012 Jeju Island, Korea. editor / S Lee ; H Cho ; K J Yoon ; J Lee. Vol. 194 Berlin Germany : Springer, 2012. pp. 563-574 (Advances in Intelligent Systems and Computing).

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abstract = "A number of techniques that allow autonomous multi-robot systems to be held within formation-like structures exist but they are limited by a high communication load, high energy usage and a lack of robustness. This research improves on state-of-the-art formation control schemes for leader-follower type multi-robot systems by employing mechanisms that enable groups of robots to move in two-dimensional formations without the need for inter robot communication. We also incorporate techniques that enable the robots to move back into formation in a precise manner when external interferences have caused the formation shape to deteriorate. The control system is derived through the use of graph theory and has been tested rigorously in a realistic simulator to prove its applicability to multi-robot control.",

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Barca, JC, Sekercioglu, YA & Ford, A 2012, Controlling formations of robots with graph theory. in S Lee, H Cho, KJ Yoon & J Lee (eds), Intelligent Autonomous Systems 12: Volume 2: Proceedings of the 12th International Conference IAS-12, Held June 26–29, 2012 Jeju Island, Korea. vol. 194, Advances in Intelligent Systems and Computing, vol. 194, Springer, Berlin Germany, pp. 563-574, International Conference on Intelligent Autonomous Systems 2012, Jeju Island, Korea, South, 26/06/12. https://doi.org/10.1007/978-3-642-33932-5_52

Controlling formations of robots with graph theory. / Barca, Jan Carlo; Sekercioglu, Yasar Ahmet; Ford, Adam.
Intelligent Autonomous Systems 12: Volume 2: Proceedings of the 12th International Conference IAS-12, Held June 26–29, 2012 Jeju Island, Korea. ed. / S Lee; H Cho; K J Yoon; J Lee. Vol. 194 Berlin Germany: Springer, 2012. p. 563-574 (Advances in Intelligent Systems and Computing; Vol. 194).

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

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AB - A number of techniques that allow autonomous multi-robot systems to be held within formation-like structures exist but they are limited by a high communication load, high energy usage and a lack of robustness. This research improves on state-of-the-art formation control schemes for leader-follower type multi-robot systems by employing mechanisms that enable groups of robots to move in two-dimensional formations without the need for inter robot communication. We also incorporate techniques that enable the robots to move back into formation in a precise manner when external interferences have caused the formation shape to deteriorate. The control system is derived through the use of graph theory and has been tested rigorously in a realistic simulator to prove its applicability to multi-robot control.

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Barca JC, Sekercioglu YA, Ford A. Controlling formations of robots with graph theory. In Lee S, Cho H, Yoon KJ, Lee J, editors, Intelligent Autonomous Systems 12: Volume 2: Proceedings of the 12th International Conference IAS-12, Held June 26–29, 2012 Jeju Island, Korea. Vol. 194. Berlin Germany: Springer. 2012. p. 563-574. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-642-33932-5_52