Brief paper: Leader-follower formation control of nonholonomic mobile robots with input constraints
Automatica (Journal of IFAC)
Brief paper: Region-based shape control for a swarm of robots
Automatica (Journal of IFAC)
Behavioral control for multi-robot perimeter patrol: a finite state automata approach
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IEEE Transactions on Robotics
Potential based control strategy for arbitrary shape formations of mobile robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
International Journal of Robotics Research
Swarm aggregations using artificial potentials and sliding-mode control
IEEE Transactions on Robotics
Path planning for permutation-invariant multirobot formations
IEEE Transactions on Robotics
Automatica (Journal of IFAC)
Information Sciences: an International Journal
Hi-index | 22.15 |
The current paper investigates the topology design and shape control of a group of homogeneous mobile robots moving into a desired region. A new topology method, designed based on a multilevel structure, is employed to present different shapes of swarm robots in the desired region. A potential function-based controller, including a new shape regulation control force, is developed to control the robots in forming the desired formation shape. The shape regulation control force is used to address the local minima problem that causes the robots to get stuck at undesired positions. A Lyapunov approach is utilized to analyze the stability of the controlled system. Finally, simulations and experiments are performed to demonstrate the effectiveness of the proposed approach.