Distributed control of multi-robot systems using bifurcating potential fields
نویسندگان
چکیده
The distributed control of multi-robot systems has been shown to have advantages over conventional single robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using bifurcating potential fields. It is shown how various patterns can be achieved through a simple free parameter change. In addition the stability of the system of robots is proven to ensure that desired behaviours always occur.
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ورودعنوان ژورنال:
- Robotics and Autonomous Systems
دوره 58 شماره
صفحات -
تاریخ انتشار 2010