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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/8815

Title: Decentralized Formation Control for Small-Scale Robot Teams with Anonymity
Authors: Lee, Geunho
Nak Young, Chong
Keywords: Decentralized coordination
Self-organizing robot teams
Leader-referenced formation control
Neighbor-referenced formation control
Agreement on common coordinates and ID allocations
Issue Date: 2009-02
Publisher: Elsevier
Magazine name: Mechatronics
Volume: 19
Number: 1
Start page: 85
End page: 105
DOI: 10.1016/j.mechatronics.2008.06.005
Abstract: This paper presents decentralized formation controls for a team of anonymous mobile robots performing a task through cooperation. Robot teams are required to generate and maintain various geometric patterns adapting to environmental changes in many cooperative robotics applications. In particular, all robots must continue to strive toward achieving the team’s mission even if some members fail to perform their role. Toward this end, formation control approaches are proposed under the conditions that robot teams are initially not allowed to have individual identification numbers (IDs), a predetermined leader, and agreement on coordinate systems. Therefore, all members are required first to reach agreement on their coordinate system and obtain unique IDs for role allocations in a self-organizing way. Then, employing IDs within a common coordinate system, two formation control approaches can be realized: leader-referenced and neighbor-referenced formations. Both approaches are verified using an in-house simulator and physical mobile robots. We detail and evaluate each formation control approach, whose common features include self-organization, robustness, and flexibility.
Rights: NOTICE: This is the author’s version of a work accepted for publication by Elsevier. Changes resulting from the publishing process, including peer review, editing, corrections, structural formatting and other quality control mechanisms, may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Geunho Lee and Nak Young Chong, Mechatronics, 19(1), 2009, 85-105, http://dx.doi.org/10.1016/j.mechatronics.2008.06.005
URI: http://hdl.handle.net/10119/8815
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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