Please use this identifier to cite or link to this item: https://doi.org/10.2316/Journal.206.2011.1.206-3406
Title: Formation and zoning control of multi-robot systems
Authors: Chen, P.C.Y. 
Wan, J.
Poo, A.N. 
Ge, S.S. 
Keywords: Attractiveness
Formation
Multi-robot system
Nonsmooth analysis
Zoning scheme
Issue Date: 2011
Source: Chen, P.C.Y., Wan, J., Poo, A.N., Ge, S.S. (2011). Formation and zoning control of multi-robot systems. International Journal of Robotics and Automation 26 (1) : 35-48. ScholarBank@NUS Repository. https://doi.org/10.2316/Journal.206.2011.1.206-3406
Abstract: In this paper, we investigate the stability and attractiveness of formation control in connection with the method of artificial potential trench. With the introduction of a zoning scheme and the associated zoning potential, we synthesize a control that attracts a team of robots to establish a formation, while ensuring that each robot maintains a certain separation from its leader and avoids collision with other robots. Results from computer simulation verify and demonstrate the effectiveness of this approach to formation and zoning control of multi-robot systems.
Source Title: International Journal of Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/50929
ISSN: 08268185
DOI: 10.2316/Journal.206.2011.1.206-3406
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