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Extension of Multi-robot Formation using Model Predictive Control

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Ray, Anjan, McGinnity, TM, Coleman, SA and Behera, Laxmidhar (2011) Extension of Multi-robot Formation using Model Predictive Control. In: Irish Conference on Artificial Intelligence and Cognitive Science, Londonderry. ISRC Technical Report series. 10 pp. [Conference contribution]

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Abstract

In this paper, we develop a coordination and formation maintenancetechnique for a group of mobile robots. Any one of the front members can act asthe leader of the group; other members decide and adjust their motion accordingto decisions of the leader. Furthermore, the front members of the group remainthe same as the front members keep their relative headings with respect to theleader. We present experimental verifications using various co-ordinations of agroup of Pioneer P3-Dx mobile robots within a formation. Another scheme isproposed based on model predictive control (MPC) for extending the formation.Simulation results are included to show the possibilities of the proposed method.The experimental and simulation studies demonstrate that the robots can followthe motion patterns of the leader whilst maintaining a safe separation distancefrom each other.

Item Type:Conference contribution (Poster)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:19899
Deposited By:Dr Sonya Coleman
Deposited On:26 Sep 2011 09:57
Last Modified:26 Sep 2011 09:57

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