Article ID Journal Published Year Pages File Type
412574 Robotics and Autonomous Systems 2008 12 Pages PDF
Abstract

In this paper we address the problem of planning the motion of a team of cooperating mobile robots subject to constraints on relative configuration imposed by the nature of the task they are executing. We model constraints between robots using a graph where each edge is associated with the interaction between two robots and describes a constraint on relative configurations. We develop a decentralized motion control system that leads each robot to their individual goals while maintaining the constraints specified on the graph. We present experimental results with groups of holonomic and non-holonomic mobile robots.

Related Topics
Physical Sciences and Engineering Computer Science Artificial Intelligence
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