Multi-Robot Formation Control and Terrain Servoing with Limited Sensor Information
| Authors: | Hu Xiaoming, KTH, Sweden
Gustavi Tove, KTH, Sweden
Karasalo Maja, KTH, Sweden |
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| Topic: | 4.3 Robotics |
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| Session: | Multi-Robot Systems |
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| Keywords: | Mobile robots, robot navigation, robot control, feedback, sensors. |
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Abstract
In this paper mobile multi-agent systems with limited sensor information are studied. Two control algorithms are proposed that donot require global information, and are easy to implement. The control problems are motivated by robotic applications such as cleaning, grass mowing and land mines detection, where a common control problem is the completecoverage path planning, for which it is known that parallel formation is optimal. The proposed control algorithms provide terrain servoing for the leading robot and parallel formation keeping for the followers, both of which are onlybased on measurements from range sensors.
