Graph-Based Distributed Control for Adaptive Multi-Robot Patrolling through Local Formation Transformation

Multi-robot cooperative navigation in real-world environments is essential in many applications, including surveillance and search-and-rescue missions. State-of-the-art methods for cooperative navigation are often tested in ideal laboratory conditions and not ready to be deployed in real- world environments, which are often cluttered with static and dynamic obstacles. In this work, we explore a graph-based framework to achieve control of real robot formations moving in a world cluttered with a variety of obstacles by introducing a new distributed algorithm for reconfiguring the formation shape. We systematically validate the reconfiguration algorithm using three real robots in scenarios of increasing complexity.


Published in:
2016 Ieee/Rsj International Conference On Intelligent Robots And Systems (Iros 2016), 1721-1728
Presented at:
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016
Year:
2016
Publisher:
New York, Ieee
ISBN:
978-1-5090-3762-9
Keywords:
Laboratories:




 Record created 2016-08-25, last modified 2018-10-01

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