A New Framework of Optimal Multi-Robot Formation Problem
In the past decade,cooperation of swarm of mobile robots has been extensively studied for its high error tolerance, ef ficiency,scalar extendibility and wide applications in various services and surveillances.Among most of these applications, the robots are required to formate into certain shape or positions so as to accomplish tasks with satis fied overall performance, hence multi-robot formation problem has received increasing attention in the research community and has been studied from different aspects.This contribution aims at one long-term ignored fundamental problem of describing the formation rigorously in a mathematical manner and establishing one general framework of optimal multi-robot formation problem,which can serve as a theoretical basis for later studies on robot formation.Within the proposed framework,the preliminary case studies to three-robot optimal formation problem have shown that the formulated optimal formation problems are generally non-trivial and challenging even for the most simple three-robot optimal line formation problems.
MA Hongbin WANG Meiling JIA Zhenchao YANG Chenguang
School of Automation,Beijing Institution of Technology,Beijing 100081,P.R.China School of Computing and Mathematics,University of Plymouth,Plymouth PL4 8AA,United Kingdom
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）