Title:
Behavior-based Formation Control for Multi-robot Teams
Behavior-based Formation Control for Multi-robot Teams
Files
Authors
Arkin, Ronald C.
Balch, Tucker
Balch, Tucker
Authors
Person
Advisors
Advisors
Associated Organizations
Organizational Unit
Organizational Unit
Organizational Unit
Series
Collections
Supplementary to
Permanent Link
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.
Sponsor
Date Issued
1999
Extent
Resource Type
Text
Resource Subtype
Paper