TY - GEN
T1 - Behavior coordination in multi-robot systems
AU - Mendiburu, Fernando J.
AU - Morais, Marcos R.A.
AU - Lima, Antonio M.N.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/8
Y1 - 2016/12/8
N2 - A distributed swarm navigation technique is presented for terrestrial mobile robots. Each robot has its own behavior-based controller that coordinates its basic behaviors by using a hybrid automata. The coordination allows flocking behavior as a result of parallel composition of individual robot automata. The distributed navigation problem is formulated for differential-drive wheeled robots equipped with odometry, compass, and laser range sensor. An interference analysis is made to evaluate the system performance under different configuration of initial parameters. The individual controller allows to expand the number of behaviors. This permits cohesion, align and safe navigation in the robot swarm. The pseudo-experimental results obtained in a ROS-GAZEBO environment were quite positive demonstrating the correctness and feasibility of the proposed solution.
AB - A distributed swarm navigation technique is presented for terrestrial mobile robots. Each robot has its own behavior-based controller that coordinates its basic behaviors by using a hybrid automata. The coordination allows flocking behavior as a result of parallel composition of individual robot automata. The distributed navigation problem is formulated for differential-drive wheeled robots equipped with odometry, compass, and laser range sensor. An interference analysis is made to evaluate the system performance under different configuration of initial parameters. The individual controller allows to expand the number of behaviors. This permits cohesion, align and safe navigation in the robot swarm. The pseudo-experimental results obtained in a ROS-GAZEBO environment were quite positive demonstrating the correctness and feasibility of the proposed solution.
KW - Behavior-based system
KW - coordination
KW - interference
KW - swarm robotics
UR - http://www.scopus.com/inward/record.url?scp=85010297585&partnerID=8YFLogxK
U2 - 10.1109/ICA-ACCA.2016.7778506
DO - 10.1109/ICA-ACCA.2016.7778506
M3 - Conference contribution
AN - SCOPUS:85010297585
T3 - 2016 IEEE International Conference on Automatica, ICA-ACCA 2016
BT - 2016 IEEE International Conference on Automatica, ICA-ACCA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Automatica, ICA-ACCA 2016
Y2 - 19 October 2016 through 21 October 2016
ER -