Distributed control of multi-robot systems using bifurcating potential fields

Authors:
Derek J. Bennet;Colin R. McInnes
Affiliations:
Department of Mechanical Engineering, University of Strathclyde, Glasgow, Scotland, United Kingdom;Department of Mechanical Engineering, University of Strathclyde, Glasgow, Scotland, United Kingdom
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

The distributed control of multi-robot systems has been shown to have advantages over that of conventional single-robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using a new control algorithm developed through bifurcating potential fields. It is shown how various patterns can be achieved autonomously through a simple free parameter change, with the stability of the system proven to ensure that desired behaviours always occur.