Behavior-based Formation Control for Multi-robot Teams

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dc.contributor.author Arkin, Ronald C.
dc.contributor.author Balch, Tucker
dc.date.accessioned 2008-05-13T16:33:26Z
dc.date.available 2008-05-13T16:33:26Z
dc.date.issued 1999
dc.identifier.uri http://hdl.handle.net/1853/21577
dc.description.abstract New reactive behaviors that implement formations in multi-robot 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. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Autonomous robots en_US
dc.subject Behavior-based control en_US
dc.subject Robot formation en_US
dc.title Behavior-based Formation Control for Multi-robot Teams en_US
dc.type Paper en_US
dc.contributor.corporatename Carnegie-Mellon University. Computer Science Dept.
dc.contributor.corporatename Georgia Institute of Technology. College of Computing
dc.contributor.corporatename Georgia Institute of Technology. Mobile Robot Laboratory


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