The NSB Control for 3-Dimensional Flocking of Multi-Robot Systems

摘要：

This paper deals with the flocking problem of a multi-robot system,that is,making the robots of a team grouping together.The flocking behavior is achieved resorting to the Null-Space-based Behavioral control by de finning very simple behaviors for each robot and properly arranging them in priority. The algorithm,making the robots using only local information, successfully achieves the flocking mission with or without a rendez-vous point and in eventual presence of obstacles.Extensive simulations,assuming 2 and 3-dimensional point-mass agents, prove the effectiveness of the proposed algorithm.

作者: Gianluca Antonelli Filippo Arrichiello Stefano Chiaverini

作者单位: Dipartimento di Automazione,Elettromagnetismo, Ingegneria dell Informazione e Matematica Industriale Università degli Studi di Cassino Via G.Di Biasio 43,03043 Cassino (FR),Italy

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 101-106

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）