Distributed coordination architecture for multi-robot formation control
Robotics and Autonomous Systems
Brief paper: Region-based shape control for a swarm of robots
Automatica (Journal of IFAC)
Stabilization of a hierarchical formation of unicycle robots with velocity and curvature constraints
IEEE Transactions on Robotics
Multiplicative potential energy function for swarm control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Abstraction and control for Groups of robots
IEEE Transactions on Robotics
Convex Optimization Strategies for Coordinating Large-Scale Robot Formations
IEEE Transactions on Robotics
Formation Control of Multiple Groups of Nonholonomic Wheeled Mobile Robots
Proceedings of Conference on Advances In Robotics
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One of the most challenging goals in multi-robot systems is the cooperative control of swarms of robots to establish a complex formation. The large size of the community and the complexity of the task are the main obstructions that hinder the attainment of the goal. In this paper, we overcome these difficulties by introducing a multi-group coordination control methodology for robot swarms. Decomposition of robot swarms to multiple groups increases versatility of the whole community in operating in intricate environment. We formulate the problem into two parts: inter-group formation and intra-group formation. In the inter-group formation, coordination of groups in the community is considered, and in the intra-group formation, the formation of individuals in the groups is studied. Moreover, the concept of adaptive interactive force is proposed to cope with the inter-group interactions. Theoretical analysis of the stability of the multi-group control system is presented. Simulation results are presented to illustrate the performance of the proposed method.