Graph-based distributed control for adaptive multi-robot patrolling through local formation transformation
Alicja Wasik, José N. Pereira, Rodrigo Ventura, Pedro U. Lima, Alcherio Martinoli
Abstract
Multi-robot cooperative navigation in real-world environments is essential in many applications, including surveillance and search-and-rescue missions. State-of-the-art methods for cooperative navigation are often tested in ideal laboratory conditions and not ready to be deployed in real-world environments, which are often cluttered with static and dynamic obstacles. In this work, we explore a graph-based framework to achieve control of real robot formations moving in a world cluttered with a variety of obstacles by introducing a new distributed algorithm for reconfiguring the formation shape. We systematically validate the reconfiguration algorithm using three real robots in scenarios of increasing complexity.
BibTeX
@inproceedings{iros2016_graphbaseddistri,
title = {Graph-based distributed control for adaptive multi-robot patrolling through local formation transformation},
author = {Alicja Wasik and José N. Pereira and Rodrigo Ventura and Pedro U. Lima and Alcherio Martinoli},
booktitle = {IROS 2016},
year = {2016}
}