Experiments in Cooperative Human Multi-Robot Navigation

被引：0
作者：
Saez-Pons, Joan [1 ]
Alboul, Lyuba [1 ]
Penders, Jacques [1 ]
机构：
[1] Sheffield Hallam Univ, Sheffield S1 1WB, S Yorkshire, England
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
GUARDIANS PROJECT; ROBOT FORMATIONS; TEAM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we consider the problem of a group of autonomous mobile robots and a human moving coordinately in a real-world implementation. The group moves throughout a dynamic and unstructured environment. The key problem to be solved is the inclusion of a human in a real multi-robot system and consequently the multiple robot motion coordination. We present a set of performance metrics (system efficiency and percentage of time in formation) and a novel flexible formation definition whereby a formation control strategy both in simulation and in real-world experiments of a human multi-robot system is presented. The formation control proposed is stable and effective by means of its uniform dispersion, cohesion and flexibility.
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页数：4
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