Michigan's first commercial oil field was discovered at Port Huron, St. Clair County, in 1886. By 1910, 21 shallow wells had been completed in the Dundee formation at depths of about 500 to 650 feet. In 1910 the daily production from this field amounted to about 10 barrels of oil per day, all of which was used locally in the manufacture of lubricants. However, it was not until 1925 when the Sag...

We study the problem of achieving global behavior in a group of distributed robots using only local sensing and minimal communication, in the context of formations. The goal is to have N mobile robots establish and maintain some predetermined geometric shape. We report results from extensive simulation experiments, and 40+ experiments with four physical robots, showing the viability of our appr...

A set of structural cohesiveness issues raised in control of autonomous multi-vehicle formations is analysed, using a recently developed theoretical framework of graph rigidity and persistence. The general characteristics of rigid and persistent formations and some operational criteria to check the rigidity and persistence of a given formation from the aspect of their use in cohesive motion of ...

Most often, autonomous robots maintain group formations by using global information such as the position of the group leader or even the position of all robots inside the formation. Alternative approaches to autonomous robot formations have considered local information, which is more realistic but presents some drawbacks such as troop deformation. In this paper we perform a step forward in loca...