UNITED WE STAND, DIVIDED WE FALL - Team Formation in Multiple Robot Applications-
نویسندگان
چکیده
In nature, animal grouping such as flocking and schooling has advantages to form a larger effective search pattern and can find a location much faster. Grouping requires each member in a group to form up and move in a given geometrical pattern. This paper presents a behavior-based approach to team formation in multiple robot applications based on local sensor-based information. A novel fuzzy control method, namely multi-stage fuzzy controller (MSFC), is used to enable robots to navigate safely in unknown and dynamic environments. A set of elementary behaviors has been implemented to control the team formation. The combination of these behaviors allows multiple robots to avoid obstacles while keeping formation (specific distance and orientation). The method has been applied to different type of robots in different real-world settings and experimental results show its real-time performance.
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