Flocking for Multi-Robot Systems via the Null-Space-based Behavioral Control

被引：17

作者：

Antonelli, Gianluca ^{[1
]}

Arrichiello, Filippo ^{[1
]}

Chiaverini, Stefano ^{[1
]}

机构：

[1] Univ Cassino, Dipartimento Automaz Elettromagnetismo Ingn Infor, I-03043 Cassino, FR, Italy

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650626

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper the flocking problem for a multi-robot system, consisting in making the robots of a team grouping together, is addressed. The flocking is achieved resorting to the Null-Space-based Behavioral (NSB) control by defining very simple behaviors for each robot of the team and by properly arranging these behaviors in priority. The NSB algorithm, making the robots using only local information, successfully achieves the flocking with or without a rendez-vous point and in eventual presence of obstacles. Extensive simulations and experiments using differential-drive mobile robots prove the effectiveness of the proposed algorithm.

引用

页码：1409 / 1414

页数：6

共 23 条

[1]

[Anonymous], 1987, Comput. Graph.

[2]

ANTONELLI G, 2007, P 2007 IEEE INT C AD

[3] The entrapment/escorting mission - An experimental study using a multirobot system [J].

Antonelli, Gianluca ;

Arrichiello, Filippo ;

Chiaverini, Stefano .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2008, 15 (01) :22-29

[4] Kinematic control of platoons of autonomous vehicles [J].

Antonelli, Gianluca ;

Chiaverini, Stefano .

IEEE TRANSACTIONS ON ROBOTICS, 2006, 22 (06) :1285-1292

[5] The null-space-based behavioral control for autonomous robotic systems [J].

Antonelli, Gianluca ;

Arrichiello, Filippo ;

Chiaverini, Stefano .

INTELLIGENT SERVICE ROBOTICS, 2008, 1 (01) :27-39

[6] MOTOR SCHEMA - BASED MOBILE ROBOT NAVIGATION [J].

ARKIN, RC .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1989, 8 (04) :92-112

[7] On the application of redundant manipulator techniques to the control of platoons of autonomous vehicles [J].

Bishop, BE ;

Stilwell, DJ .

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01), 2001, :823-828

[8] On the use of redundant manipulator techniques for control of platoons of cooperating robotic vehicles [J].

Bishop, BE .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 2003, 33 (05) :608-615

[9] A ROBUST LAYERED CONTROL-SYSTEM FOR A MOBILE ROBOT [J].

BROOKS, RA .

IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1986, 2 (01) :14-23

[10] Cooperative mobile robotics: Antecedents and directions [J].

Cao, YU ;

Fukunaga, AS ;

Kahng, AB .

AUTONOMOUS ROBOTS, 1997, 4 (01) :7-27

← 1 2 3 →