Bennet, Derek J. and McInnes, C.R. (2010) Distributed control of multi-robot systems using bifurcating potential fields. Robots and Autonomous Systems, 58 (3). pp. 256-264. ISSN 0921-8890
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Official URL: http://dx.doi.org/10.1016/j.robot.2009.08.004
Abstract
The distributed control of multi-robot systems has been shown to have advantages over 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 bifurcating potential fields. It is shown how various patterns can be achieved through a simple free parameter change. In addition the stability of the system of robots is proven to ensure that desired behaviours always occur.
| Item type: | Article |
|---|---|
| ID code: | 7332 |
| Keywords: | multi-robot systems, bifurcation, bifurcating potential fields, robotics, distributed control systems, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics |
| Subjects: | Technology > Mechanical engineering and machinery Technology > Motor vehicles. Aeronautics. Astronautics |
| Department: | Faculty of Engineering > Mechanical and Aerospace Engineering |
| Related URLs: | |
| Depositing user: | Strathprints Administrator |
| Date Deposited: | 08 Jan 2009 15:48 |
| Last modified: | 06 Oct 2012 07:55 |
| URI: | http://strathprints.strath.ac.uk/id/eprint/7332 |
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