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IROS
2009
IEEE

Entrapment/escorting and patrolling missions in multi-robot cluster space control

9 years 2 days ago
Entrapment/escorting and patrolling missions in multi-robot cluster space control
— The tasks of entrapping/escorting and patrolling around an autonomous target are presented making use of the multi-robot cluster space control approach. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems of limited size. Previous work has established the conceptual foundation of this approach and has experimentally verified and validated its use for 2-robot, 3-robot and 4-robot systems, with varying implementations ranging from automated trajectory control to human-in-the-loop piloting. In this publication, we show that the problem of entrapping/escorting/patrolling is trivial to define and manage from a cluster space perspective. Using a 3-robot experimental testbed, results are shown for the given tasks. We also revise the definition of the cluster space framework for a three-robot formation and incorporate a robotlevel obstacle avoidance functionality.
Ignacio Mas, Steven Li, Jose Acain, Christopher Ki
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Ignacio Mas, Steven Li, Jose Acain, Christopher Kitts
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