Multi-robot Formation Control and Terrain Servoing with Limited Sensor Information
نویسندگان
چکیده
In this paper mobile multi-agent systems with limited sensor information are studied. Two control algorithms are proposed that do not require global information, and are easy to implement. The control problems are motivated by robotic applications such as cleaning, grass mowing and land mines detection, where a common control problem is the complete coverage path planning, for which it is known that parallel formation is optimal. The proposed control algorithms provide terrain servoing for the leading robot and parallel formation keeping for the followers, both of which are only based on measurements from range sensors. Copyright c 2005 IFAC
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