Name
Abstract | ||
|---|---|---|
A novel method is presented for formation control of a group of autonomous mobile robots using parametric and implicit descriptions of the desired formation. Shape formation is controlled by using potential fields generated from Implicit Polynomial (IP) representations and the control for keeping the desired shape is designed using Elliptical Fourier Descriptors (EFD). Coordination of the robots is modeled by linear springs between each robot and its nearest two neighbors. This approach offers more flexibility in the formation shape and scales well to different swarm sizes and to heterogeneous systems. The method is simulated on robot groups with different sizes to form various formation shapes. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1007/978-3-540-85984-0_67 | ICIC (2) |
Keywords | Field | DocType |
robot group,implicit representations,elliptical fourier descriptors,different swarm size,novel method,shape formation,formation control,autonomous mobile robot,different size,various formation shape,formation shape | Shape formation,Computer vision,Polynomial,Swarm behaviour,Computer science,Fourier transform,Parametric statistics,Artificial intelligence,Robot,Mobile robot | Conference |
Volume | ISSN | Citations |
5227 | 0302-9743 | 2 |
PageRank | References | Authors |
0.44 | 9 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yesim H. Esin | 1 | 2 | 0.44 |
| Mustafa Ünel | 2 | 154 | 20.71 |
| Mehmet Can Yildiz | 3 | 467 | 30.50 |