COORDINATED MOTION CONTROL OF MULTIPLE ROBOTS

Wojciech Kowalczyk, Krzysztof Kozlowski

Abstract

In this paper a set of robot coordination approaches is presented. Described method 0s are based on formation function concept. Accuracy of different approaches is compared using formation function time graphs. Virtual structure method is analyzed, then virtual structure expanded with behavioral formation feedback is presented. Finally leader-follower scheme is described. Presented methods are illustrated by simulation results. Differentially driven nonholonomic mobile robots were used in simulations.

References

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Paper Citation


in Harvard Style

Kowalczyk W. and Kozlowski K. (2007). COORDINATED MOTION CONTROL OF MULTIPLE ROBOTS . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 155-160. DOI: 10.5220/0001633501550160


in Bibtex Style

@conference{icinco07,
author={Wojciech Kowalczyk and Krzysztof Kozlowski},
title={COORDINATED MOTION CONTROL OF MULTIPLE ROBOTS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={155-160},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001633501550160},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - COORDINATED MOTION CONTROL OF MULTIPLE ROBOTS
SN - 978-972-8865-83-2
AU - Kowalczyk W.
AU - Kozlowski K.
PY - 2007
SP - 155
EP - 160
DO - 10.5220/0001633501550160