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Optimization-based formation of autonomous mobile robots

journal contribution
posted on 2011-07-01, 00:00 authored by H Zhang, Pubudu PathiranaPubudu Pathirana
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.

History

Journal

Robotica

Volume

29

Issue

4

Pagination

515 - 525

Publisher

Cambridge University Press

Location

Cambridge, U. K.

ISSN

0263-5747

eISSN

1469-8668

Language

eng

Notes

Article first published online 5th August 2010

Publication classification

C1 Refereed article in a scholarly journal

Copyright notice

2010, Cambridge University Press