Abstract
A template based technique that generates two dimensional formations in leader-follower type multi-robot systems is presented in this paper. How this technique: i) selects a leader robot that is placed at the front of formations and ii) enables six randomly positioned identical non-holonomic robots to compose triangular, circular, linear and rectangular formations is also demonstrated. The template based technique has been compared with a state-of-the-art potential field type formation generation technique and simulation results show that the template based technique can form circular formations 77.35% faster and with 51.43% shorter travel distance. The presented work is an important contribution to multi-robot control theory as history shows that the success of groups often depend on the ability to efficiently generate appropriate formations.
| Original language | English |
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| Title of host publication | Proceedings of the 2011 Australasian Conference on Robotics and Automation (ACRA 2011) |
| Editors | Wai Ho Li |
| Place of Publication | Melbourne, Australia |
| Publisher | Australian Robotics and Automation Association (ARAA) |
| Number of pages | 9 |
| ISBN (Print) | 9780980740424 |
| Publication status | Published - 2011 |
| Event | Australasian Conference on Robotics and Automation 2011 - Monash University, Melbourne, Australia Duration: 7 Dec 2011 → 9 Dec 2011 http://www.araa.asn.au/conferences/acra-2011/ |
Conference
| Conference | Australasian Conference on Robotics and Automation 2011 |
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| Abbreviated title | ACRA 2011 |
| Country | Australia |
| City | Melbourne |
| Period | 7/12/11 → 9/12/11 |
| Internet address |