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Trajectory Tracking for Formation of Mobile Robots

2009; Springer Science+Business Media; Linguagem: Inglês

10.1007/978-1-84882-985-5_6

1610-7411

Wojciech Kowalczyk, Krzysztof Kozłowski, József K. Tar,

Modular Robots and Swarm Intelligence

IntroductionCooperative robotics is a currently intensively investigated area of science. Great development in technology has attracted research interest in many countries on this subject. It is caused by availability of reliable, efficient and inexpensive components of mobile robots. In addition, some tasks can be executed more efficiently using multiple simple, low-cost mobile robots instead of one bigger robot. Multi-robot systems have a wide range of applications: service robots, transportation, exploration, mapping and rescue systems, surveillance, security and many others.On the other hand, control design for multiple robots is much more complex due to a distributed characteristic of the system and its complexity. There are many approaches which can be conventionally partitioned into three groups: virtual structure approach [2, 7], behavioral approach [4, 11], and leader follower scheme [3, 8, 9]. Each of them is more suitable for particular application and less for the others.