File(s) under permanent embargo
Formation control of weak autonomous robots
conference contribution
posted on 2011-01-01, 00:00 authored by H Zhang, Pubudu PathiranaPubudu PathiranaFormation 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.
History
Event
IEEE Conference on Decision and Control and European Control Conference (50th : 2011 : Orlando, Fla.)Pagination
4220 - 4225Publisher
IEEELocation
Orlando, Fla.Place of publication
[Orlando, Fla]Publisher DOI
Start date
2011-12-12End date
2011-12-15ISSN
0743-1546ISBN-13
9781612847993ISBN-10
1612847994Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2011, IEEETitle of proceedings
CDC - ECC 2011 : Proceedings of the Conference on Decision and Control and European Control ConferenceUsage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC