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|Title:||Queues and artificial potential trenches for multirobot formations|
|Authors:||Ge, S.S. |
|Keywords:||Artificial potential trenches|
|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|
|Appears in Collections:||Staff Publications|
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