@inproceedings{scholars1807, doi = {10.1109/RAICS.2011.6069385}, year = {2011}, note = {cited By 3; Conference of 2011 IEEE Recent Advances in Intelligent Computational Systems, RAICS 2011 ; Conference Date: 22 September 2011 Through 24 September 2011; Conference Code:87395}, pages = {621--626}, address = {Trivandrum, Kerala}, title = {Distributed planning and control of multirobot formations with navigation and obstacle avoidance}, journal = {2011 IEEE Recent Advances in Intelligent Computational Systems, RAICS 2011}, abstract = {This paper considers the problem of formation control and obstacle avoidance for a group of non-holonomic mobile robots in a leader referenced model. Three important issues related to the multi robot formation namely distributed formation control framework based on switching control strategy, dynamic role switching algorithm and real time implementations are investigated. This switching control strategy combines together formation planning, navigation and active obstacle avoidance in a layered control framework composed of functional behaviors based on the relative motion states of the robots employed in the group. Dynamic role switching mechanism through the exchange of leadership is also incorporated in this work to tackle the problem of obstacle avoidance in the follower path. The proposed approach is validated through state based laboratory experiments using commercially available robot research platforms and the results obtained are discussed. {\^A}{\copyright} 2011 IEEE.}, keywords = {Control framework; Distributed formation control; Distributed planning; Dynamic roles; Formation control; Functional behaviors; Laboratory experiments; Multi-robot formation; Non-holonomic mobile robots; Real-time implementations; Relative motion state; Research platforms; State-based; State-based modelling; Switching control strategy, Behavioral research; Computational complexity; Distributed computer systems; Intelligent robots; Mobile robots; Switching; Switching systems, Robot programming}, url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-81355150444&doi=10.1109\%2fRAICS.2011.6069385&partnerID=40&md5=d86228eabf9a6da975f808fe52697724}, isbn = {9781424494774}, author = {Kuppan, C. R. M. and Singaperumal, M. and Nagarajan, T.} }