NDLI: Behavior-based coordination of large-scale robot formations

Content Provider	IEEE Xplore Digital Library
Author	Balch, T. Hybinette, M.
Copyright Year	2000
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Balch, T.)
Abstract	To address a wide range of multi-robot coordinated movement tasks, we seek a formation strategy that offers: scalability, the approach should easily scale to any number of agents; locality, the behaviors should depend only on the local sensors of each agent; flexibility, the behaviors should be flexible so as to support many formation shapes. To provide these features we introduce a new behavior based approach to robot formation-keeping. The new strategy is based loosely on the way molecules form crystals. From the point of view of each robot in the group, every other robot has several local "attachment sites" other robots may be attracted to. This type of attachment site geometry roughly corresponds to molecular covalent bonding. Just as different crystal shapes result from different covalent bond geometries, robot formation shapes are influenced by the attachment site geometries employed.
Starting Page	363
Ending Page	364
File Size	104573
Page Count	2
File Format	PDF
ISBN	0769506259
DOI	10.1109/ICMAS.2000.858476
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-07-12
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computational geometry Shape Navigation Robot kinematics Scalability AC motors Robot sensing systems Educational institutions Large-scale systems Bonding
Content Type	Text
Resource Type	Article

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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