NDLI: Autonomous initialization of robot formations

Content Provider	IEEE Xplore Digital Library
Author	Lemay, M. Michaud, F. Letourneau, D. Valin, J.-M.
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. Eng. & Comput. Eng., Sherbrooke Univ., Que., Canada (Lemay, M.; Michaud, F.; Letourneau, D.; Valin, J.-M.)
Abstract	Real life deployment of robot formation cannot assume that robots are going to be correctly positioned to move in a particular configuration. To do so, we propose an approach that allows the group to determine autonomously the most appropriate assignment of positions in the formation. Our approach is distributed and uses directional visual perception to localize robots. Inter-robot communication allows them to share information on which robots are nearby, so that each can evaluate it ability to be the conductor of the group and assign formation positions to the other robots by minimizing repositioning. The assignment search is done using a distributed bounded depth-first with pruning search. The robot with the best score is selected as the conductor, and the other robots receive from the conductor their assignment in the formation. Validation of our work is done in simulation and with Pioneer 2 robots.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3018
Ending Page	3023
File Size	506979
Page Count	6
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1307520
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Intelligent robots Robot vision systems Cameras Conductors Shape control Mobile computing Intelligent systems Visual perception Solid modeling
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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