Distributed control of multi-robot systems using bifurcating potential fields

Derek J. Bennet; C.R. McInnes

doi:10.1016/j.robot.2009.08.004

Distributed control of multi-robot systems using bifurcating potential fields

Derek J. Bennet, C.R. McInnes

Mechanical And Aerospace Engineering

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Abstract

The distributed control of multi-robot systems has been shown to have advantages over 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 bifurcating potential fields. It is shown how various patterns can be achieved through a simple free parameter change. In addition the stability of the system of robots is proven to ensure that desired behaviours always occur.

Original language	English
Pages (from-to)	256-264
Number of pages	8
Journal	Robots and Autonomous Systems
Volume	58
Issue number	3
Early online date	27 Nov 2009
DOIs	https://doi.org/10.1016/j.robot.2009.08.004
Publication status	Published - 31 Mar 2010

Keywords

multi-robot systems
bifurcation
bifurcating potential fields
robotics
distributed control systems

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10.1016/j.robot.2009.08.004

strathprints007332Accepted author manuscript, 2.02 MBLicence: CC BY-NC-ND 4.0

Cite this

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Distributed control of multi-robot systems using bifurcating potential fields

Abstract

Keywords

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