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Persistent multi-robot formations with redundancy

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

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Persistent multi-robot formations with redundancy. / Burns, Alyxander; Schulze, Bernd; St. John, Audrey.
Distributed Autonomous Robotic Systems. ed. / R. Groß . Springer, 2018. p. 133-146.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Burns, A, Schulze, B & St. John, A 2018, Persistent multi-robot formations with redundancy. in R Groß (ed.), Distributed Autonomous Robotic Systems. Springer, pp. 133-146. https://doi.org/10.1007/978-3-319-73008-0_10

APA

Burns, A., Schulze, B., & St. John, A. (2018). Persistent multi-robot formations with redundancy. In R. Groß (Ed.), Distributed Autonomous Robotic Systems (pp. 133-146). Springer. https://doi.org/10.1007/978-3-319-73008-0_10

Vancouver

Burns A, Schulze B, St. John A. Persistent multi-robot formations with redundancy. In Groß R, editor, Distributed Autonomous Robotic Systems. Springer. 2018. p. 133-146 Epub 2018 Mar 14. doi: 10.1007/978-3-319-73008-0_10

Author

Burns, Alyxander ; Schulze, Bernd ; St. John, Audrey. / Persistent multi-robot formations with redundancy. Distributed Autonomous Robotic Systems. editor / R. Groß . Springer, 2018. pp. 133-146

Bibtex

@inproceedings{ab89396612f049cc86daf211432fd0fc,
title = "Persistent multi-robot formations with redundancy",
abstract = "A multi-robot formation composed of autonomous agents may need to maintain an overall rigid shape for tasks such as collective transport of an object.To distribute control, we construct leader-follow formations in the plane that are persistent: designated “leader” robots control the movement of the entire formation, while the remaining “follower” robots maintain directed local links sensing data to other robots in such a way that the entire formation retains its overall shape. In this paper, we present an approach based on rigidity theory for constructing persistent leader-follower formations with redundancy; specified robots may experience sensor link failure without losing the persistence of the formation. Within this model, we consider the impact of special positions due to certain geometric conditions andprovide simulation results confirming the expected behavior.",
author = "Alyxander Burns and Bernd Schulze and {St. John}, Audrey",
year = "2018",
month = mar,
day = "31",
doi = "10.1007/978-3-319-73008-0_10",
language = "English",
isbn = "9783319730066",
pages = "133--146",
editor = "{Gro{\ss} }, R.",
booktitle = "Distributed Autonomous Robotic Systems",
publisher = "Springer",

}

RIS

TY - GEN

T1 - Persistent multi-robot formations with redundancy

AU - Burns, Alyxander

AU - Schulze, Bernd

AU - St. John, Audrey

PY - 2018/3/31

Y1 - 2018/3/31

N2 - A multi-robot formation composed of autonomous agents may need to maintain an overall rigid shape for tasks such as collective transport of an object.To distribute control, we construct leader-follow formations in the plane that are persistent: designated “leader” robots control the movement of the entire formation, while the remaining “follower” robots maintain directed local links sensing data to other robots in such a way that the entire formation retains its overall shape. In this paper, we present an approach based on rigidity theory for constructing persistent leader-follower formations with redundancy; specified robots may experience sensor link failure without losing the persistence of the formation. Within this model, we consider the impact of special positions due to certain geometric conditions andprovide simulation results confirming the expected behavior.

AB - A multi-robot formation composed of autonomous agents may need to maintain an overall rigid shape for tasks such as collective transport of an object.To distribute control, we construct leader-follow formations in the plane that are persistent: designated “leader” robots control the movement of the entire formation, while the remaining “follower” robots maintain directed local links sensing data to other robots in such a way that the entire formation retains its overall shape. In this paper, we present an approach based on rigidity theory for constructing persistent leader-follower formations with redundancy; specified robots may experience sensor link failure without losing the persistence of the formation. Within this model, we consider the impact of special positions due to certain geometric conditions andprovide simulation results confirming the expected behavior.

U2 - 10.1007/978-3-319-73008-0_10

DO - 10.1007/978-3-319-73008-0_10

M3 - Conference contribution/Paper

SN - 9783319730066

SP - 133

EP - 146

BT - Distributed Autonomous Robotic Systems

A2 - Groß , R.

PB - Springer

ER -