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.
- multi-robot systems
- bifurcating potential fields
- distributed control systems
Bennet, D. J., & McInnes, C. R. (2010). Distributed control of multi-robot systems using bifurcating potential fields. Robots and Autonomous Systems, 58(3), 256-264. https://doi.org/10.1016/j.robot.2009.08.004