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Decentralized Motion Coordination for a Formation of Rovers

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

Ray, Anjan Kumar, Benavidez, Patrick, Behera, Laxmidhar and Jamshidi, M (2009) Decentralized Motion Coordination for a Formation of Rovers. IEEE Systems Journal, 3 (3). pp. 369-381. [Journal article]

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URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5238599&tag=1

DOI: 10.1109/JSYST.2009.2031012

Abstract

Abstract—In this paper, a decentralized formation control isproposed which enables collision free coordination and navigationof agents. We present a simple method to define the formationof multi-agents and individual identities (IDs) of agents. Two decentralizedcoordination and navigation techniques are proposedfor the formation of rovers. Agents decide their own behaviorsonboard depending upon the motion initiative of the master agentof the formation. In these approaches, any agent can estimatebehavior of other agents in the formation. These will reduce thedependency of individual agent on other agents while takingdecisions. These approaches reduce the communication burdenon the formation where only the master agent broadcasts itsmotion status per sampled time. Any front agent can act as amaster agent without affecting the formation in case of fault ininitial master agent. The main idea of this paper is to developan adequate computational model under which agents in theformation will perform to coordinate among each other. Assignmentsof IDs to agents are very useful in real-time applications.These proposed schemes are suitable for obstacle avoidance inunknown environment as a whole formation. Agents are free fromcollision among each other during navigation. These schemes canbe used for velocity as well as orientation alignment problemsfor a multi-agent rover network. These schemes are tested withextensive simulations and responses of agents show satisfactoryperformances to deal with different environmental conditions.

Item Type:Journal article
Keywords:Mobile robot navigation, multi-agent formation, path planning, robotic swarm, system of systems.
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:21057
Deposited By:Dr Laxmidhar Behera
Deposited On:13 Feb 2012 14:01
Last Modified:13 Feb 2012 16:25

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