Behavior-based formation control for multirobot teams

New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are imp...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics and automation 1998-12, Vol.14 (6), p.926-939
Main Authors: Balch, T., Arkin, R.C.
Format: Article
Language:English
Subjects:
Animals
Behavioral research
Communication system control
Hazards
Hidden Markov models
Laboratories
Land vehicles
Mobile robots
Motion control
Navigation
Robot control
Robot sensing systems
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based unmanned ground vehicles. The technique has been integrated with the autonomous robot architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.736776