Sciweavers

Share
IROS
2008
IEEE

Flocking for multi-robot systems via the Null-Space-based Behavioral control

10 years 3 months ago
Flocking for multi-robot systems via the Null-Space-based Behavioral control
Abstract— In this paper the flocking problem for a multirobot system, consisting in making the robots of a team grouping together, is addressed. The flocking is achieved resorting to the Null-Space-based Behavioral (NSB) control by defining very simple behaviors for each robot of the team and by properly arranging these behaviors in priority. The NSB algorithm, making the robots using only local information, successfully achieves the flocking with or without a rendez-vous point and in eventual presence of obstacles. Extensive simulations and experiments using differential-drive mobile robots prove the effectiveness of the proposed algorithm.
Gianluca Antonelli, Filippo Arrichiello, Stefano C
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Gianluca Antonelli, Filippo Arrichiello, Stefano Chiaverini
Comments (0)
books