Behavior-Based Formation Control for Multi-robot Teams Tucker Balch, and Ronald C. Arkin Introduction Main idea : Behavior-based approach to robot formation-keeping. The robots in this research have different IDs : heterogeneous robot.
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Tucker Balch, and Ronald C. Arkin
1) collision avoidance
2) Velocity matching
3) Flock centering
Formation position determined by various referencing techniques
Four robots in leader-referenced perception of other robots.
Comparison of leader-referenced and unit-center-referenced diamond formation
Traveling in column formation diamond formation
Traveling in wedge formation diamond formation
Traveling line formation diamond formation
Vspeed = Rmag + K*dspeed (Rmag = robot present speed)
Hdesired = Fdir – dheading
Hdesired = Fpos – Rpos
Vsteer = Hdesired – Rdir
speed correction heading correction diamond formation
Thank you!!! diamond formation
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