Abstract
We present a method of Distributed Autonomous Formation Control of Mobile Robot Groups by Swarm-Based Pattern Generation. Each mobile robot, in our control method, changes its position to generate a group formation, measuring relative positions and relative orientations from its neighboring robots. The robot senses only its surrounding environment and there is no supervisor. The formation is controlled by Formation Vectors. Each robot has its own formation vector and the pattern of the formation vectors in the group determines the group formation. We use a Swarm-Based Pattern Generation Method to control the pattern. Specifically, the swarm-based pattern generation method solves second order differential equations with the Finite Element Method (FEM) in a distributed manner. A sinusoidal wave is one of the solutions of the equations, and the superimposition of the waves produces various patterns, as in the Fourier Series. Therefore, the swarm-based pattern generation method can make any pattern of the formation vectors, and the group formation is controllable. The validity of our method is verified by computer simulations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
H. Yamaguchi and G. Beni, “Distributed Autonomous Formation Control of Mobile Robot Groups,” under review of the IEEE Transactions on Robotics and Automation, submitted June 1995.
R. A. Brooks, P. Maes, M. J. Mataric and G. More, “Lunar Base Construction Robots,” Proceedings of IEEE International Workshop on Intelligent Robots and Systems (IROS’90), vol. 1, pp. 389–92, 1990.
R. C. Arkin, “Cooperation without Communication: Multiagent Schema-Based Robot Navigation,” Journal of Robotic Systems, vol. 9, no. 2, pp. 351–364, 1992.
Proceedings of the International Conference of Distributed Autonomous Robotic Systems (DARS’94) edited by H. Asama. T. Fukuda, T. Arai and I. Endo, Springer-Verlag, 1994.
G. S. Chirikjian, “A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics,” Proceedings of IEEE International Conference on Robotics and Automation, vol. 3, pp. 107–112, 1993.
G. S. Chirikjian and J.W. Burdick, “A Modal Approach to Hyper-Redundant Manipulator Kinematics,” IEEE Transactions on Robotics and Automation, vol. 10, no. 3, pp. 343–354, 1994.
K. Sugihara and I. Suzuki, “Distributed Motion Coordination of Multiple Mobile Robots,” Proceedings. 5th IEEE International Symposium on Intelligent Control, vol. 1, pp. 138–143, 1990.
G. Beni and S. Hackwood, “Stationary Waves in Cyclic Swarms,” Proceedings of the 1992 IEEE International Symposium on Intelligent Control, 1992.
P. Liang and G. Beni, “Robotic Morphogenesis,” Proceedings of IEEE International Conference on Robotics and Automation, vol. 2, pp. 2175–2180, 1995.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1996 Springer Japan
About this paper
Cite this paper
Yamaguchi, H., Beni, G. (1996). Distributed Autonomous Formation Control of Mobile Robot Groups by Swarm-Based Pattern Generation. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems 2. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66942-5_14
Download citation
DOI: https://doi.org/10.1007/978-4-431-66942-5_14
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-66944-9
Online ISBN: 978-4-431-66942-5
eBook Packages: Springer Book Archive