Title:
Behavior-based Formation Control for Multi-robot Teams
Behavior-based Formation Control for Multi-robot Teams
| dc.contributor.author | Arkin, Ronald C. | |
| dc.contributor.author | Balch, Tucker | |
| dc.contributor.corporatename | Carnegie-Mellon University. Computer Science Dept. | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.contributor.corporatename | Georgia Institute of Technology. Mobile Robot Laboratory | |
| dc.date.accessioned | 2008-05-13T16:33:26Z | |
| dc.date.available | 2008-05-13T16:33:26Z | |
| dc.date.issued | 1999 | |
| dc.description.abstract | New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based Unmanned Ground Vehicles. The technique has been integrated with the Autonomous Robot Architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/21577 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Autonomous robots | en_US |
| dc.subject | Behavior-based control | en_US |
| dc.subject | Robot formation | en_US |
| dc.title | Behavior-based Formation Control for Multi-robot Teams | en_US |
| dc.type | Text | |
| dc.type.genre | Paper | |
| dspace.entity.type | Publication | |
| local.contributor.author | Arkin, Ronald C. | |
| local.contributor.corporatename | College of Computing | |
| local.contributor.corporatename | Mobile Robot Laboratory | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
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