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Distributed control of multi-robot systems using bifurcating potential fields

2009; Elsevier BV; Volume: 58; Issue: 3 Linguagem: Inglês

10.1016/j.robot.2009.08.004

1872-793X

Derek J. Bennet, Colin R. McInnes,

Robotic Path Planning Algorithms

The distributed control of multi-robot systems has been shown to have advantages over that of conventional single-robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using a new control algorithm developed through bifurcating potential fields. It is shown how various patterns can be achieved autonomously through a simple free parameter change, with the stability of the system proven to ensure that desired behaviours always occur.