Behavior-based formation control for multirobot teams
Balch, T.
Arkin, R.C.
Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA;
This paper appears in: Robotics and Automation, IEEE Transactions on
Publication Date: Dec 1998
Volume: 14,
Issue: 6
On page(s): 926-939
ISSN: 1042-296X
References Cited: 23
CODEN: IRAUEZ
INSPEC Accession Number: 6139649
Digital Object Identifier: 10.1109/70.736776
Current Version Published: 2002-08-06
Abstract
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
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