Distributed formation building algorithms for groups of wheeled mobile robots

Savkin, AV; Wang, C; Baranzadeh, A; Xi, Z; Nguyen, HT

Distributed formation building algorithms for groups of wheeled mobile robots

Savkin, AV Wang, C Baranzadeh, A Xi, Z Nguyen, HT

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Publication Type:: Journal Article
Citation:: Robotics and Autonomous Systems, 2016, 75 pp. 463 - 474
Issue Date:: 2016-01-01

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Field	Value	Language
dc.contributor.author	Savkin, AV	en_US
dc.contributor.author	Wang, C	en_US
dc.contributor.author	Baranzadeh, A	en_US
dc.contributor.author	Xi, Z	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2016-01-01	en_US
dc.identifier.citation	Robotics and Autonomous Systems, 2016, 75 pp. 463 - 474	en_US
dc.identifier.issn	0921-8890	en_US
dc.identifier.uri	http://hdl.handle.net/10453/41121
dc.description.abstract	© 2015 Published by Elsevier B.V. The paper presents a method for decentralized flocking and global formation building for a network of unicycle-like robots described by the standard kinematics equations with hard constraints on the robots linear and angular velocities. We propose decentralized motion coordination control algorithms for the robots so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The effectiveness of the proposed control algorithms is illustrated via computer simulations and experiments with real robots.	en_US
dc.relation.ispartof	Robotics and Autonomous Systems	en_US
dc.relation.isbasedon	10.1016/j.robot.2015.08.006	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Distributed formation building algorithms for groups of wheeled mobile robots	en_US
dc.type	Journal Article
utslib.citation.volume	75	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	75	en_US

Abstract:

© 2015 Published by Elsevier B.V. The paper presents a method for decentralized flocking and global formation building for a network of unicycle-like robots described by the standard kinematics equations with hard constraints on the robots linear and angular velocities. We propose decentralized motion coordination control algorithms for the robots so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The effectiveness of the proposed control algorithms is illustrated via computer simulations and experiments with real robots.

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http://hdl.handle.net/10453/41121