Distributed control of multi-robot systems using bifurcating potential fields

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

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Publisher's URL: http://dx.doi.org/10.1016/j.robot.2009.08.004


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

Item Type:Articles
Glasgow Author(s) Enlighten ID:McInnes, Professor Colin
Authors: Bennet, D. J., and McInnes, C. R.
College/School:College of Science and Engineering > School of Engineering > Systems Power and Energy
Journal Name:Robotics and Autonomous Systems
ISSN (Online):1872-793X

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