Behavior-Based Formation Control for Multirobot Teams - Robotics and Automation, IEEE Transactions on
نویسندگان
چکیده
New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA’s HMMWV-based Unmanned Ground Vehicles. The technique has been integrated with the Autonomous Robot Architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
منابع مشابه
Behavior-based formation control for multirobot teams
|New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based Unmanned Gro...
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| New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navi-gational behaviors to enable a robotic team to reach nav-igational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation , on robots in the laboratory and aboard DARPA's HMMWV-based Unmanned...
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