2008
RSS
RSS 2008
Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots
Abstract
For a group of constant-speed ground robots, a set of control laws are designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots.
🌉
Interdisciplinary Bridge
— Artificial Intelligence and Robotics
🧭
Keyword Pioneer
— ground robot
🐝
Cross-Pollinator
— Artificial Intelligence, Computer Science, Computer Vision, Deep Learning, Knowledge & Reasoning, Machine Learning, Mathematics & Optimization, Reinforcement Learning, Robotics, Speech & Audio