Referenced Items are not available for this document.
New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based unmanned ground vehicles. The technique has been integrated with the autonomous robot architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:14
,
Issue:
6
)
Date of Publication: Dec 1998
- Page(s):
- 926 - 939
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 6139649
- Digital Object Identifier :
- 10.1109/70.736776
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Dec 1998
- Sponsored by :
- IEEE Robotics and Automation Society
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