Distributed control of multi-robot systems using bifurcating potential fields

作者：Bennet Derek J^*; McInnes Colin R

来源：Robotics and Autonomous Systems, 2010, 58(3): 256-264.

DOI：10.1016/j.robot.2009.08.004

• Distributed control
• Potential fields
• Bifurcation theory

The distributed control of multi-robot systems has been shown to have advantages over that of conventional single-robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using a new control algorithm developed through bifurcating potential fields. It is shown how various patterns can be achieved autonomously through a simple free parameter change, with the stability of the system proven to ensure that desired behaviours always occur.

• 出版日期2010-3-31