NDLI: Analysis of Formation Control and Communication Pattern in Multi-Robot Systems

Content Provider	IEEE Xplore Digital Library
Author	Chou-Yaun Mai Feng-Li Lian
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei (Chou-Yaun Mai)
Abstract	A collection of simple robots can replace a complex robot via cooperation. In the process of cooperation, forming a specific formation pattern will enhance the efficiency of work and data transmission between robots. In order to form a specific formation pattern, interaction between robots should be well studied. The interaction can be divided into two groups: motion interaction and information interaction. Motion interaction means the relative movement between robots and information interaction means the exchange of sensor readings or communication data of robots. In this study, graph theory is used to model the physical relationship and information exchanging topology among robots. Artificial potential field based high-level controllers are designed for the motion interaction of robots to form stable formations. Considering effects of different information topologies, two scenarios with six robots in formation control problem are presented and discussed. Simulation studies of the two scenarios show that motion interaction of robots in formation control is affected by information interaction. Factors such as robustness, convergence speed, power consuming, sensitivity, and system efficiencies are compared for different information topologies
Starting Page	640
Ending Page	645
File Size	7441938
Page Count	6
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315713
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Control system analysis Pattern analysis Communication system control Control systems Multirobot systems Robot sensing systems Topology Motion control Robot control Data communication information topology Multi-robot system motion interaction graph theory artificial potential field
Content Type	Text
Resource Type	Article

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