NDLI: Three-robot minimax travel-distance optimal formation

Content Provider	IEEE Xplore Digital Library
Author	Zhenchao Jia Hongbin Ma Chenguang Yang Meiling Wang
Copyright Year	2011
Description	Author affiliation: School of Computing and Mathematics, University of Plymouth, PL4 8AA, United Kingdom (Chenguang Yang) \|\| School of Automation, Beijing Institution of Technology, Beijing 100081, China (Zhenchao Jia; Hongbin Ma; Meiling Wang)
Abstract	Multi-robot formation problem has received increasing attention due to its wide applications such as surveillances and various services. To illustrate a novel framework on optimal multi-robot formation given in our previous work, which aims to answer the long-term ignored fundamental problem of describing the formation and clarifying optimal formation rigorously in a mathematical manner, as a preliminary case study, various cases of the simplest optimal line formation of three robots, i.e. minimax travel-distance line formation problems, where each robot admits to move with the same constant speed along any chosen direction and the three-robot team aims to row on a straight line with the minimum maximal travel distance, are investigated in this note. Such problems look like very easy to resolve, however, to our surprise, mathematical results for these cases established with geometric analysis and inequalities have shown the non-trivialness of the most simple optimal line formation problem. Extensive simulations have also been conducted and briefly reported in this contribution, and these experimental results are found to coincide with the established theoretical results.
Starting Page	7641
Ending Page	7646
File Size	1277254
Page Count	6
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6161535
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Performance analysis Vectors Educational institutions Robot sensing systems Simulation
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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