Formation Control of Multiple Robots Using Parametric and Implicit Representations

Authors:
Yesim H. Esin;Mustafa Unel;Mehmet Yildiz
Affiliations:
Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey 34956;Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey 34956;Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey 34956
Venue:
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Artificial Intelligence
Year:
2008

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Abstract

A novel method is presented for formation control of a group of autonomous mobile robots using parametric and implicit descriptions of the desired formation. Shape formation is controlled by using potential fields generated from Implicit Polynomial (IP) representations and the control for keeping the desired shape is designed using Elliptical Fourier Descriptors (EFD). Coordination of the robots is modeled by linear springs between each robot and its nearest two neighbors. This approach offers more flexibility in the formation shape and scales well to different swarm sizes and to heterogeneous systems. The method is simulated on robot groups with different sizes to form various formation shapes.