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Behavior-based formation control for multirobot teams
Abstract
New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and aboard DARPA's HMMWV-based unmanned ground vehicles. The technique has been integrated with the autonomous robot architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
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Cites
A robust layered control system for a mobile robot
Brooks, R. (1986) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1986.1087032 · Cited by 7,799
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Potential Fields for Maintaining Connectivity of Mobile Networks
Zavlanos, M. M., & Pappas, G. J. (2007) · IEEE Transactions on Robotics · doi:10.1109/tro.2007.900642 · Cited by 353
Current State of the Art in Distributed Autonomous Mobile Robotics
Parker, L. E. (2000) · Distributed Autonomous Robotic Systems 4 · doi:10.1007/978-4-431-67919-6_1 · Cited by 276
Cooperative Localization for Autonomous Underwater Vehicles
Bahr, A., & Leonard, J. J. (2008) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-540-77457-0_36 · Cited by 266
Ijspeert, A. J., Martinoli, A., Billard, A., & Gambardella, L. M. (2001) · Autonomous Robots · doi:10.1023/a:1011227210047 · Cited by 204
Metadata
- Authors
- Balch, T., & Arkin, R. C.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1998
- Volume
- 14
- Issue
- 6
- Pages
- 926-939
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2119120935
- Cited by
- 3,112
- References
- 1
- FWCI
- 29.14
- Type
- journal article
- Language
- en
- Open access
- closed
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- Balch, T., & Arkin, R. C. (1998). Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.736776
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
