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Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 39))

Summary

We explore the problem of small-scale multi-robot formation control using only an unsophisticated on-board relative positioning module. The robotic setup and module are implemented and tested in a realistic virtual simulator, using standard formation types and algorithms, with and without radio communication. The experiments and results are then replicated using the real robotic platform. Finally, the simulation environment is used to assess the impact of potential improvements in the relative positioning module, and the significance and outlook of the system are discussed.

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Oussama Khatib Vijay Kumar Daniela Rus

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Pugh, J., Martinoli, A. (2008). Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_28

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  • DOI: https://doi.org/10.1007/978-3-540-77457-0_28

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-77456-3

  • Online ISBN: 978-3-540-77457-0

  • eBook Packages: EngineeringEngineering (R0)

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