Self-organizing hierarchical control for robot teams

The coordinated control for robot teams in performing tracking tasks was studied in this paper. Owing to the fact that a robot team is consisting of robots with limited abilities, the performed object may be a rigid body, a flexible body or a mechanical system, and the tracked motion may be various, so the overall system is considerably complex. For such mechanical system, according to the mechanical properties of the system, the control task to be realized can be decomposed, and in consequence construct hierarchical architecture to the control. Therein each level in the hierarchy is decomposed isolately to achieve simpler specific tasks. The coordination among the subtasks of the robots is achieved by self-organizing algorithms automatically.