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|Title:||Robot formation control in stealth mode with scalable team size|
|Citation:||International Journal of Control, 2016; 89(11):2155-2168|
|Publisher:||Taylor & Francis|
|Hongjun Yu, Peng Shi and Cheng-Chew Lim|
|Abstract:||In situations where robots need to keep electromagnetic silent in a formation, communication channels become unavailable. Moreover, as passive displacement sensors are used, limited sensing ranges are inevitable due to power insufficiency and limited noise reduction. To address the formation control problem for a scalable team of robots subject to the above restrictions, a flexible strategy is necessary. In this paper, under the assumption that the data transmission among the robots is not available, a novel controller and a protocol are designed that do not rely on communication. As the controller only drives the robots to a partially desired formation, a distributed coordination protocol is proposed to resolve the imperfections. It is shown that the effectiveness of the controller and the protocol rely on the formation connectivity, and a condition is given on the sensing range. Simulations are conducted to illustrate the feasibility and advantages of the new design scheme developed.|
|Keywords:||Limited sensing range; robot formation; scalable team; maintained connectivity|
|Description:||Published online: 01 Mar 2016.|
|Rights:||© 2016 Informa UK Limited, trading as Taylor & Francis Group|
|Appears in Collections:||Electrical and Electronic Engineering publications|
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