ROBOT BEHAVIOR ADAPTATION FOR FORMATION MAINTENANCE

Maite López-Sánchez

Abstract

The autonomous robot formation maintenance problem can be approached by considering local information only. This approach is more realistic than using global information, but presents a troop deformation drawback. This paper performs a step forward in local information usage for formation maintenance by analyzing a parameterization of different basic behaviors. Formation maintenance emerges from the combination of these simple behaviors, and its overall accuracy is empirically optimized by tuning behavior parameters. In particular, we study and characterize three different formations: queue or column (as for ants), inverted V or wedge (as for birds or planes) and rectangle (for manipulus antique roman troop formations). This paper describes simulated robots that incorporate a unique set of basic behaviors from which formation maintenance emerges. These simple behaviors provide formation robustness and are parameterized in order to minimize deformation while following a trajectory.

References

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Paper Citation


in Harvard Style

López-Sánchez M. (2006). ROBOT BEHAVIOR ADAPTATION FOR FORMATION MAINTENANCE . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 283-288. DOI: 10.5220/0001211502830288


in Bibtex Style

@conference{icinco06,
author={Maite López-Sánchez},
title={ROBOT BEHAVIOR ADAPTATION FOR FORMATION MAINTENANCE},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={283-288},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001211502830288},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ROBOT BEHAVIOR ADAPTATION FOR FORMATION MAINTENANCE
SN - 978-972-8865-60-3
AU - López-Sánchez M.
PY - 2006
SP - 283
EP - 288
DO - 10.5220/0001211502830288