Distributed control of multi-robot systems using bifurcating potential fields

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 (https://doi.org/10.1016/j.robot.2009.08.004)

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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.

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  Item type:	Article
  ID code:	7332
  Dates:	Date Event 31 March 2010 Published 27 November 2009 Published Online
  Keywords:	multi-robot systems, bifurcation, bifurcating potential fields, robotics, distributed control systems, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Aerospace Engineering, Control and Systems Engineering
  Subjects:	Technology > Mechanical engineering and machinery Technology > Motor vehicles. Aeronautics. Astronautics
  Department:	Faculty of Engineering > Mechanical and Aerospace Engineering
  Depositing user:	Strathprints Administrator
  Date deposited:	08 Jan 2009 15:48
  Last modified:	21 Sep 2023 00:50
  URI:	https://strathprints.strath.ac.uk/id/eprint/7332