Please use this identifier to cite or link to this item: https://doi.org/10.1109/TRO.2005.847617
Title: Queues and artificial potential trenches for multirobot formations
Authors: Ge, S.S. 
Fua, C.-H.
Keywords: Artificial potential trenches
Coordination
Formations
Multirobots
Queues
Issue Date: Aug-2005
Source: Ge, S.S.,Fua, C.-H. (2005-08). Queues and artificial potential trenches for multirobot formations. IEEE Transactions on Robotics 21 (4) : 646-656. ScholarBank@NUS Repository. https://doi.org/10.1109/TRO.2005.847617
Abstract: In this paper, we present a novel approach for representing formation structures in terms of queues and formation vertices, rather than with nodes, as well as the introduction of the new concept of artificial potential trenches, for effectively controlling the formation of a group of robots. The scheme improves the scalability and flexibility of robot formations when the team size changes, and at the same time, allows formations to adapt to obstacles. Furthermore, for multirobot teams to operate successfully in real and unstructured environments, the instant goal method is used to effectively solve the local minima problem. © 2005 IEEE.
Source Title: IEEE Transactions on Robotics
URI: http://scholarbank.nus.edu.sg/handle/10635/57183
ISSN: 15523098
DOI: 10.1109/TRO.2005.847617
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