Implementation of formation transition system using synchronization in a mobile robot group
T Shimone, D Kurabayashi, K Okita… - Field and Service Robotics …, 2008 - Springer
T Shimone, D Kurabayashi, K Okita, T Funato
Field and Service Robotics: Results of the 6th International Conference, 2008•SpringerThis study proposes an algorithm for the passage of a mobile robot group through a narrow
space. We deal with a robot group composed of one leader and multiple unlabeled
followers. A steady formation is realized by generating a Delaunay diagram using the
profiles of surrounding robots. Further, we resolved a deadlock situation by using the phase
gap of nonlinear oscillators to which the profiles of the surrounding obstacles are provided
as inputs. We implement the proposed system in a real multi-robot system in order to …
space. We deal with a robot group composed of one leader and multiple unlabeled
followers. A steady formation is realized by generating a Delaunay diagram using the
profiles of surrounding robots. Further, we resolved a deadlock situation by using the phase
gap of nonlinear oscillators to which the profiles of the surrounding obstacles are provided
as inputs. We implement the proposed system in a real multi-robot system in order to …
Summary
This study proposes an algorithm for the passage of a mobile robot group through a narrow space. We deal with a robot group composed of one leader and multiple unlabeled followers. A steady formation is realized by generating a Delaunay diagram using the profiles of surrounding robots. Further, we resolved a deadlock situation by using the phase gap of nonlinear oscillators to which the profiles of the surrounding obstacles are provided as inputs.We implement the proposed system in a real multi-robot system in order to demonstrate its effectiveness.
Springer
Showing the best result for this search. See all results