Distributed control of multi-robot systems using bifurcating potential fields

Derek J. Bennet, C.R. McInnes

Research output: Contribution to journalArticle

29 Citations (Scopus)

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.
LanguageEnglish
Pages256-264
Number of pages8
JournalRobots and Autonomous Systems
Volume58
Issue number3
Early online date27 Nov 2009
DOIs
Publication statusPublished - 31 Mar 2010

Fingerprint

Multi-robot Systems
Potential Field
Distributed Control
Robots
Reconfigurability
Pattern Formation
Scalability
Robot
Flexibility
Robustness

Keywords

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

Cite this

Bennet, Derek J. ; McInnes, C.R. / Distributed control of multi-robot systems using bifurcating potential fields. In: Robots and Autonomous Systems. 2010 ; Vol. 58, No. 3. pp. 256-264.
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Distributed control of multi-robot systems using bifurcating potential fields. / Bennet, Derek J.; McInnes, C.R.

In: Robots and Autonomous Systems, Vol. 58, No. 3, 31.03.2010, p. 256-264.

Research output: Contribution to journalArticle

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