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
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Official URL: https://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 Dates: DateEvent31 March 2010Published27 November 2009Published OnlineKeywords: 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. AstronauticsDepartment: Faculty of Engineering > Mechanical and Aerospace Engineering Depositing user: Strathprints Administrator Date deposited: 08 Jan 2009 15:48 Last modified: 01 Apr 2021 00:20 URI: https://strathprints.strath.ac.uk/id/eprint/7332
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