Multi-Robot System for Artistic Pattern Formation
This paper describes work on multi-robot pattern formation. Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots. Furthermore, the trajectories are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence. A distributed controller guarantees collision free trajectories while taking into account the kinematics of differentially driven robots. Experimental results are provided for a representative set of patterns, for a swarm of up to ten physical robots, and for fifty virtual robots in simulation.
Javier Alonso-Mora Andreas Breitenmoser Martin Rufli Roland Siegwart Paul Beardsley
Autonomous Systems Lab,ETH Zurich,8092 Zurich,Switzerland Disney Research Zurich,8092 Zurich,Switzer Autonomous Systems Lab,ETH Zurich,8092 Zurich,Switzerland Disney Research Zurich,8092 Zurich,Switzerland
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4512-4517
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）