eprintid: 1807
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/00/18/07
datestamp: 2023-11-09 15:49:58
lastmod: 2023-11-09 15:49:58
status_changed: 2023-11-09 15:41:23
type: conference_item
metadata_visibility: show
creators_name: Kuppan, C.R.M.
creators_name: Singaperumal, M.
creators_name: Nagarajan, T.
title: Distributed planning and control of multirobot formations with navigation and obstacle avoidance
ispublished: pub
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
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
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. © 2011 IEEE.
date: 2011
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-81355150444&doi=10.1109%2fRAICS.2011.6069385&partnerID=40&md5=d86228eabf9a6da975f808fe52697724
id_number: 10.1109/RAICS.2011.6069385
full_text_status: none
publication: 2011 IEEE Recent Advances in Intelligent Computational Systems, RAICS 2011
place_of_pub: Trivandrum, Kerala
pagerange: 621-626
refereed: TRUE
isbn: 9781424494774
citation:   Kuppan, C.R.M. and Singaperumal, M. and Nagarajan, T.  (2011) Distributed planning and control of multirobot formations with navigation and obstacle avoidance.  In: UNSPECIFIED.