A Dynamical Systems Approach to Behavior-Based Formation Control

10 years 11 months ago
A Dynamical Systems Approach to Behavior-Based Formation Control
Dynamical systems theory is used here as a theoretical language and tool to design a distributed control archictecture that generates navigation in formation, integrated with obstacle avoidance, for a team of three autonomous robots. In this approach the level of modeling is at the level of behaviors. A “dynamics” of behavior is defined over a state space of behavioral variables. The environment is also modeled in these terms by representing task constraints as attractors (i.e. asymptotically stable states) or reppelers (i.e. unstable states) of behavioral dynamics. For each robot attractors and repellers are combined into a vector field that governs the behavior. The resulting dynamical systems that generate the behavior of the robots are non-linear. Computer simulations support the validity of our dynamic model architectures.
Sergio Monteiro, Estela Bicho
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Sergio Monteiro, Estela Bicho
Comments (0)