NDLI: Control of changes in formation for a team of mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Desai, J.P. Kumar, V. Ostrowski, J.P.
Copyright Year	1999
Description	Author affiliation: Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA (Desai, J.P.)
Abstract	Addresses the control of a team of robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required. We model the team as a triple consisting of a group element that describes the gross motion of the team, a set of shape variables that describe the relative positions of robots, and a control graph that describes the behaviors of the robots in the formation. We assume that a lead robot is equipped with the appropriate sensors and plans the gross motion (path) for the team. This path is derived from optimal control theory. All other robots are coordinated by continuous controllers that are prescribed by the control graph. Our framework allows us to enumerate the number of control graphs and the possible transitions between them. Further, we describe an algorithm that allows the team of robots to move between any two formations, while avoiding obstacles. We illustrate the methodology with examples involving teams of 5 and 6 robots in the presence of obstacles.
Starting Page	1556
Ending Page	1561
File Size	631647
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.772581
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot kinematics Shape control Robot sensing systems Motion control Robot control Remotely operated vehicles Control systems Navigation Optimal control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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