5 accepted papers
The interplay between network topology and the interaction modalities of a multi-robot team fundamentally impact the types of formations that can be achieved. To explore the trade-offs between network structure and the sensing and communication capabilities of individual robots, this paper applies c…
The sensing modalities available to individual agents in a multi-robot team have a significant effect on what the team can accomplish. Previous work on infinitesimal shape-similarity has shown that maintaining relative angles between robots equipped with bearing-only sensors can render a formation o…
Robots are entering an age of ubiquity, and to operate effectively, these systems must typically satisfy a series of constraints (e.g., collision avoidance, obeying speed limits, maintaining connectivity). In addition, modern applications hinge on the completion of particular tasks, such as driving
Formation control strategies are fundamentally impacted by the sensing modalities present in the multi-robot team. Infinitesimal shape-similarity describes frameworks for which maintaining the relative angles between robots in formation also maintains the shape up to translation, rotation, and unifo…
This paper revisits the formation control problem, whereby a team of mobile robots assemble and maintain a desired geometric shape. However, the types of shapes that are realizable by a given robot team depends directly on the sensing modalities of the individual robots. For example, rigidity-based…