Team-oriented Formation Control for Multiple Mobile Robots
نویسندگان
چکیده
This paper addresses on the team-oriented task description and its usage in the mobile robots formation. The team behaviour module is introduced for the team-level task description and the temporal chain of these modules is used to define the team trajectory. The team shape is expressed as a low-triangular matrix by the graph theory to express the lead-follow relation in the formation and the shapes switching is based on the selection of the optimal transition matrix. The experiment of a heterogeneous robots team formation testifies the efficacy. Copyright © 2005 IFAC
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