Optimization-based formation of autonomous mobile robots

Zhang, Huan and Pathirana, Pubudu N. 2011, Optimization-based formation of autonomous mobile robots, Robotica, vol. 29, no. 4, pp. 515-525.

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Title Optimization-based formation of autonomous mobile robots
Author(s) Zhang, Huan
Pathirana, Pubudu N.
Journal name Robotica
Volume number 29
Issue number 4
Start page 515
End page 525
Total pages 11
Publisher Cambridge University Press
Place of publication Cambridge, U. K.
Publication date 2011-07
ISSN 0263-5747
1469-8668
Keyword(s) swarm robotics
mobile robots
multi-robot systems
motion planning
navigation
Summary The formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new asynchronous, memoryless (oblivious) algorithm to the formation problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and the target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate systems. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.
Notes Article first published online 5th August 2010
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 880399 Aerospace Transport not elsewhere classified
HERDC Research category C1 Refereed article in a scholarly journal
HERDC collection year 2011
Copyright notice ©2010, Cambridge University Press
Persistent URL http://hdl.handle.net/10536/DRO/DU:30033561

Document type: Journal Article
Collection: School of Engineering
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