Applying a Taxonomy of Formation Control in Developing a Robotic System

13 years 10 months ago

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Designing cooperative multi-robot systems (MRS) requires expert knowledge both in control and artiﬁcial intelligence. Formation control is an important research within the research ﬁeld of MRS. Since many researchers use different ways in approaching formation control, we try to give a taxonomy in order to help researchers design formation systems in a systematical way. We can analyze formauctures in two categories: control abstraction and robot distinguishability. The control abstraction can be divided into three layers: formation shape, reference type, and robotic control. Furthermore, robots can be classiﬁed as anonymous robots or identiﬁcation robots depending on whether robots are distinguishable according to their inner states. We use this taxonomy to analyze some ground-based formation systems and to state current challenges of formation control. Such information becomes the design knowhow in developing a formation system, and a case study of designing a multi-team form...

Harry Chia-Hung Hsu, Alan Liu

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