A Distributed Scalable Approach to Formation Control in Multi-Robot Systems

A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the formation is not pre-established but rather results from local interactions, giving all the robots a common, self-organized heading. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable speed and maintaining the desired distances among themselves. Up to seven robots were used in real experiments and up to forty in simulation.

Published in:
Proceedings of the International Symposium on Distributed Autonomous Robotic Systems
Presented at:
International Symposium on Distributed Autonomous Robotic Systems, Tsukuba, Ibaraki, Japan, November 17-19, 2008

 Record created 2009-01-15, last modified 2019-03-16

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