Formation control of weak autonomous robots

Zhang, Huan and Pathirana, Pubudu N. 2011, Formation control of weak autonomous robots, in CDC - ECC 2011 : Proceedings of the Conference on Decision and Control and European Control Conference, IEEE, [Orlando, Fla], pp. 4220-4225.

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Title Formation control of weak autonomous robots
Author(s) Zhang, Huan
Pathirana, Pubudu N.
Conference name IEEE Conference on Decision and Control and European Control Conference (50th : 2011 : Orlando, Fla.)
Conference location Orlando, Fla.
Conference dates 12-15 Dec. 2011
Title of proceedings CDC - ECC 2011 : Proceedings of the Conference on Decision and Control and European Control Conference
Editor(s) [Unknown]
Publication date 2011
Conference series IEEE Conference on Decision and Control and European Control Conference
Start page 4220
End page 4225
Total pages 6
Publisher IEEE
Place of publication [Orlando, Fla]
Keyword(s) collision avoidance
educational institutions
optimization
robot kinematics
robot sensing systems
vectors
Summary 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 fully distributed, memoryless (oblivious) algorithm to the formation control problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate system. 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.
ISBN 1612847994
9781612847993
ISSN 0743-1546
Language eng
Field of Research 099999 Engineering not elsewhere classified
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2011, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042376

Document type: Conference Paper
Collection: School of Engineering
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